IMPLEMENTASI PID FUZZY PADA QUADROTOR UNTUK LEPAS LANDAS DAN MENDARAT SECARA OTOMATIS; IMPLEMENTATION OF PID-FUZZY FOR AUTO TAKE-OFF AND LANDING QUADROTOR

AGUNG HARIYADI PRABOWO, Andhi Dharmawan

2015 | Skripsi | FMIPA

Quadrotor needs control system to maintain it remain stable. There are several control system that can be used, one of which is the PID control. Good PID control relies on its three constants. Because it is not rarely PID constants are not tuned properly, it needs tuning method that works automatically in the PID contro based on the changes that occur. In this research, PID tuning constants tuned automatically by using fuzzy method. Quadrotor PID control on the work in accordance with the angle error occurred. As it is known the value of the error may be Big Positive, Positive, zero, negative and Big Negative then these 5 groups value is used as the input fuzzy linguistic approach. That fifth group is the reference value error 25 fuzzy rules used to determine each value of PID constant which could be worth 'very small', ‘small’, 'medium', 'large or ‘very large’. The experiments show auto take off and landing used 1 trigger on channel 5 remote control which more stablize take off than just using PID control. Which the risetime of pitch angle is 0.14 seconds, roll angle is 0.15 seconds, and velocity is 1,7 seconds.

Kata Kunci : control; UAV; pitch; roll; altitude