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All Journal Jurnal Ilmiah Teknik Elektro Komputer dan Informatika (JITEKI) Teknomekanik
Fahmizal Fahmizal
Department of Electrical Engineering and Informatics, Vocational College, Universitas Gadjah Mada, Indonesia
Computer Science & IT Electrical & Electronics Engineering Mechanical Engineering

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Design, control, and development of a low-cost single-tilt-rotor Tricopter Fahmizal Fahmizal; Ahmad Jaelani Sidik; Priyova Muhammad Rafief; Hari Maghfiroh; Mariusz Jabłoński; Piotr Borkowski
Teknomekanik Vol. 9 No. 2 (2026): Regular Issue
Publisher : Universitas Negeri Padang

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.24036/teknomekanik.v9i2.53172

Abstract

This paper presents the design, implementation, and experimental validation of a low-cost PID-based attitude control system for a single-tilt-rotor tricopter. The proposed platform employs a Y-shaped frame configuration with a servo-driven tail-tilt mechanism and is implemented using a low-cost ATmega328P microcontroller and GY-88A IMU sensor. A PID controller was used for inner-loop attitude stabilization of roll, pitch, and yaw motions due to its low computational complexity and suitability for resource-constrained embedded systems. The PID gains were obtained through manual tuning using a tricopter test-bed rig under disturbance-free conditions and experimentally evaluated under both static and dynamic wind disturbances. Under a static wind disturbance of 7.2 m/s, the roll and pitch mean absolute error (MAE) values reached 0.977° and 4.826°, respectively, while dynamic disturbance testing produced MAE values of 0.823° for roll and 2.094° for pitch. Outdoor flight tests resulted in MAE values of 1.133° for roll and 1.831° for pitch. The experimental results demonstrated that the proposed low-cost tricopter platform can maintain stable attitude control under the evaluated disturbance conditions and outdoor flight scenarios. The study highlights the feasibility of implementing reliable tricopter stabilization using computationally lightweight PID control on inexpensive embedded hardware.
Path Planning for Mobile Robots on Dynamic Environmental Obstacles Using PSO Optimization Fahmizal Fahmizal; Innes Danarastri; Muhammad Arrofiq; Hari Maghfiroh; Henry Probo Santoso; Pinto Anugrah; Atinkut Molla
Jurnal Ilmiah Teknik Elektro Komputer dan Informatika Vol. 10 No. 1 (2024): March
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.26555/jiteki.v10i1.28513

Abstract

The increasing integration of mobile robots in various industries necessitates efficient navigation strategies amidst dynamic environments. Path planning plays a crucial role in guiding mobile robots from their starting points to target destinations, contributing to automation and enhancing human-robot collaboration. This study focuses on devising a tailored path-planning approach for a fleet of mobile robots to navigate through dynamic obstacles and reach designated trajectories efficiently. Leveraging particle swarm optimization (PSO), our methodology optimizes the path while considering real-time environmental changes. We present a simulation-based implementation of the algorithm, where each robot maintains position, velocity, cost, and personal best information to converge towards the global optimal solution. Different obstacles consist of circles, squares, rectangles, and triangles with various colors and five handle-points used. Our findings demonstrate that PSO achieves a global best cost of 5.1017, indicative of the most efficient path, minimizing overall distance traveled.
Co-Authors Ahmad Jaelani Sidik Atinkut Molla Hari Maghfiroh Henry Probo Santoso Innes Danarastri Mariusz Jabłoński Muhammad Arrofiq Pinto Anugrah Piotr Borkowski Priyova Muhammad Rafief