IMPLEMENTASI METODE PD FINE-TUNED DENGAN ANALISIS LYAPUNOV PADA GERAK MELAYANG QUADROTOR; IMPLEMENTATION OF PD FINE-TUNED METHOD WITH LYAPUNOV ANALYSIS FOR HOVERING QUADROTOR

Kholifatulloh, Arjun, Andhi Dharmawan

2015 | Skripsi | FMIPA

Quadrotor control needed to make quadrotor hovering, so quadrotor in a stationary state. Control technique used is PD controller with Kp and Kd tuning based risetime smallest value from a number of samples with a specific testing range on the transfer function of pitch angle , roll angle , and yaw angle using MATLAB software . Testing range obtained by manual tuning. Constants that have been obtained, then analyzed with Lyapunov stability to determine whether the system with that constants stable or not. In the study, obtained Kp and Kd for pitch angle 0,089 and 0,036, for roll angle 0,087 dan 0,035, and for yaw angle 0,080 and 0,024. Based on the simulation, pitch angle has 1,112 x 10?1 s risetime and 10,482% overshoot. Roll angle has 1,135 x 10?1 s risetime and 10,736% overshoot. Yaw angle has 1,969 x 10?1 s risetime and 22,424% overshoot. Based on Lyapunov stability analysis , system pitch angle , roll angle , and yaw angles are stable. Based on the static test response obtained pitch angle has 0.600 s risetime and 6.133% overshoot , roll angle response has 1 s risetime and 10.688 % overshoot . Based on the dynamic test pitch angle has 2.860 ° error, roll angle has 4,230 ° error, and yaw angle has 26,710° error.

Kata Kunci : quadrotor; Lyapunov; PD