IMPLEMENTASI METODE PID-LQR PADA QUADROTOR UNTUK KEADAAN MELAYANG; IMPLEMENTATION OF PID-LQR METHODS ON QUADROTOR HOVERING

AHMAD WAHYU ILAHI, Andhi Dharmawan

2015 | Skripsi | FMIPA

Quadrotor is one type of UAV's ability to land and take off vertically which has a fairly complex system of control in flight movements, and therefore needs a good control system in order to fly with a stable. There are various control methods, some of which are control PID and LQR systems. Both control systems are widely used separately to control motion in quadrotor and other systems. So both methods are applied to the quadrotor to maintain stability while hovering quadrotor. This study began with the manufacture of main plant LQR and conduct tuning values Q and R are best for the system. Having obtained the best value of Q and R are then used PID control output angle correcting value to be included in the control LQR. This method performs a merger between PID and LQR control method. PID constants to produce quadrotor system which has a fast response. The test results obtained the Q and R values for pitch and roll angles at which Q = 2400 and R = 1, while for the yaw Q = 1000 and R = 1. PID constants for the pitch angle is Kp = 1.5, Ki = 0.4, Kd = 0.6, and for the roll angle is Kp = 1.5, Ki = 0.4, Kd = 0.5. For the rise time of 0.3 seconds roll angle and pitch of 0.23 seconds.

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