i SKRIPSI OPTIMASI KENDALI PID DENGAN METODE ANT COLONY OPTIMIZATION PADA QUADROTOR PADA KEADAAN MELAYANG; PID CONTROL OPTIMIZATION USING ANT COLONY OPTIMIZATION METHOD IN HOVERING STATE QUADROTOR

Budiono, Puger Permadi, Andi Dharmawan

2015 | Skripsi | FMIPA

Quadrotor is a flying vehicle that moves using four propellers. Quadrotor made with frame, brushless motor, propeller, battery and control unit along with the orientation sensor. A control unit that has been implanted nano Arduino program to control the system using a PID algorithm. Produced from a control system that regulates quadrotor stability control tilt angle of roll, pitch, and yaw plane. Ant Colony Optimization (ACO) is one of PID controller optimazion method which adapted by ant colony ability to find the shortest way from their nest to food. In this minithesis, ACO implemented to optimize PID Ziegler-Nichols value for hovering state quadrotor. Some ACO parameters are 10 ants, 50 parameters for each constant, Pheromone adding constant 0,9, and pheromone linearity influence 1..Pheromone is value ants give when they use a trails.Kp, Ti, Td value and the transfer function system became input for ACO. ACO steps are: initialize, run the process model, evaluate one of the cost function between IAE, ISE, ITAE, and ITSE, update pheromone and probability, and then calculate the Kp, Ti and Td ACO-PID value, and finally the result are obtained from ITSE which is offer better risetime, settling time and overshoot than the other cost function. Kp=0,1337 Ki=0,2552 Kd=0,0166 for pitch and roll, and Kp=2,9924, Ki=1,1975, Kd=1,9576 fow yaw.

Kata Kunci : quadrotor; PID; ACO; matlab