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All Journal Indonesian Journal of Electronics and Instrumentation Systems IJCCS (Indonesian Journal of Computing and Cybernetics Systems) Jurnal Buana Informatika ELINVO (Electronics, Informatics, and Vocational Education) BANGUN REKAPRIMA TELEKONTRAN: Jurnal Ilmiah Telekomunikasi, Kendali dan Elektronika Terapan Buletin Ilmiah Sarjana Teknik Elektro Jurnal Abdi Masyarakat Indonesia Journal of Robotics, Automation, and Electronics Engineering Control Systems and Optimization Letters Media of Computer Science
Oktaf Agni Dhewa
Department Of Electronics And Informatics Engineering, Universitas Negeri Yogyakarta, Yogyakarta
Aerospace Engineering Humanities Automotive Engineering Civil Engineering, Building, Construction & Architecture Computer Science & IT Control & Systems Engineering Economics, Econometrics & Finance Education Electrical & Electronics Engineering Engineering Languange, Linguistic, Communication & Media Library & Information Science Public Health Other

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Journal : journal of robotics automation and electronics engineering

 1 
Attitude Stabilization of a Tricopter UAV Using Integral-Augmented Linear Quadratic Regulation Dika Saputra; Oktaf Agni Dhewa
Journal of Robotics, Automation, and Electronics Engineering Vol. 3 No. 2 (2025): September 2025
Publisher : Universitas Negeri Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.21831/jraee.v3i2.1295

Abstract

Attitude stabilization of a tricopter unmanned aerial vehicle (UAV) is challenging because its asymmetric three-rotor configuration and servo-actuated rear rotor introduce coupled and disturbance-sensitive rotational dynamics. This study develops and experimentally evaluates an integral-augmented Linear Quadratic Regulator (LQR-I) for roll, pitch, and yaw stabilization of a physical tricopter UAV. The controller was implemented on an embedded flight controller using inertial measurements from an MPU6050 and was evaluated through tuning-rig experiments and outdoor free-flight tests under measured wind disturbances. A conventional LQR was used as the baseline controller. To ensure a consistent comparison, the performance of both controllers was evaluated under the same measured wind speed of 4.4 m/s. Under this condition, LQR-I reduced pitch overshoot from 9.03° to 2.85° and yaw overshoot from 13.43° to 3.35°, corresponding to reductions of approximately 68.4% and 75.1%, respectively. Roll overshoot increased slightly from 5.25° to 5.47°. The magnitude of the steady-state error was reduced by approximately 56.6%, 16.6%, and 50.6% for the roll, pitch, and yaw axes, respectively. In addition, the root mean square error (RMSE) decreased from 2.451° to 2.065° for roll, from 3.397° to 2.542° for pitch, and from 2.744° to 1.227° for yaw. These experimental results demonstrate that integral augmentation improves the overall disturbance-rejection and attitude-tracking performance of the tricopter, particularly in the pitch and yaw axes, although a slight increase in roll overshoot was observed.
Sistem Pelabelan Otonom pada Kemasan Parfum Laundry dengan Dukungan Pemrosesan Citra menggunakan YOLO V11 Dio Faziko Pratama Pratama; Oktaf Agni Dhewa
Journal of Robotics, Automation, and Electronics Engineering Vol. 3 No. 2 (2025): September 2025
Publisher : Universitas Negeri Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.21831/jraee.v3i2.1885

Abstract

Gaya hidup masyarakat yang semakin praktis membuat layanan laundry kiandiminati, terutama di kota-kota besar. Hal ini turut mendorong permintaanterhadap parfum laundry sebagai pelengkap. Sayangnya, proses pelabelan kemasan masih banyak dilakukan secara manual, yang tidak hanya memakanwaktu, tetapi juga rawan kesalahan dan menghambat kelancaran produksiterutama saat permintaan meningkat. Untuk menjawab tantangan tersebut,penelitian ini mengembangkan sistem pelabelan otomatis berbasis deteksiobjek menggunakan YOLOv11. Sistem ini menggabungkan kamera, gateotomatis, dan conveyor untuk mendeteksi kemasan secara real-time dan menempelkan label secara presisi tanpa intervensi manusia. Tujuannya adalahmeningkatkan efisiensi dan menjaga konsistensi kualitas kemasan. Hasil evaluasi menunjukkan performa sistem sangat baik, dengan mAP@0.5 sebesar 90persen dan waktu inferensi rata-rata 21,5 milidetik per citra. Pada 10 kaliuji coba berturut-turut, akurasi deteksi mencapai 100 persen tanpa kegagalan.Ini membuktikan bahwa sistem mampu bekerja andal dalam waktu nyata danberpotensi diterapkan lebih luas di industri lain yang memerlukan otomasipelabelan.
Design and Experimental Validation of LQR-Based Altitude Regulation for a Tricopter UAV Agus Setyo Adi Saputro; Oktaf Agni Dhewa
Journal of Robotics, Automation, and Electronics Engineering Vol. 3 No. 2 (2025): September 2025
Publisher : Universitas Negeri Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.21831/jraee.v3i2.1972

Abstract

Altitude regulation is essential for maintaining stable hovering and supporting autonomous operation in tricopter unmanned aerial vehicles (UAVs), whose asymmetric propulsion and rear-rotor tilt mechanism introduce additional control challenges. This study designs, implements, and experimentally evaluates a Linear Quadratic Regulator (LQR)-based altitude-hold controller for a Y- configured tricopter equipped with an inertial sensing module and a downward-facing ultrasonic range sensor for low-altitude feedback. Attitude stabilization was first evaluated using an indoor tuning rig before the complete system was tested under actual flight conditions. The altitude controller was evaluated at reference altitudes of 0.40, 0.85, and 1.25 m and under intentional downward disturbances at a reference altitude of 1.25 m. Across five disturbance trials, the system achieved a mean rise time of 0.513 ± 0.223 s, a mean settling time of 1.113 ± 0.313 s, and a mean steady- state error of 0.0344 ± 0.0069 m. Overshoot occurred in three trials and remained between 1.39% and 1.56%. Without intentional disturbances, steady-state errors of 0.0115, 0.0233, and 0.0064 m were obtained at reference altitudes of 0.40, 0.85, and 1.25 m, respectively. These results demonstrate that the proposed controller can maintain low-altitude hovering and recover from external vertical disturbances within the predefined performance requirements of the tested tricopter platform.
Co-Authors Ach Maulana Habibi Yusuf Aditya, Tomi Agus Setyo Adi Saputro Aldiasa Pangestu Aji Ardy Seto Priambodo Aris Nasuha Bambang Nurcahyo Prastowo Bambang Nurcahyo Prastowo Bambang Nurcahyo Prastowo Dheni Leo Dika Saputra Dio Faziko Pratama Pratama Elviana Faisal Fajri Rahani Faris Yusuf Baktiar Gilang Nugraha Putu Pratama Gilang Nugraha Putu Pratama Indra Hidayatulloh Indra Hidayatulloh Lukman Awaludin Mashoedah Mashoedah Mentari Putri Jati Nur Achmad Sulistyo Putro Putro, Nur Achmad Sulistyo Putro, Nur Achmad Sulistyo Rizky Hidayat Prasetyo Septian Rahman Hakim Silvia Larasatul Masyitoh Syaiful Ardy Gunawan Teddy Surya Gunawan Tri Hadi Karyono Yuli Fajarwati Yusuf, Ach Maulana Habibi Zulhakim Seftiyana Roviyan