SISTEM PENALAAN MANDIRI KENDALI PID PADA PENERBANGAN QUADROTOR MENGGUNAKAN METODE ANFIS; SELF TUNING SYSTEM OF PID CONTROLLER ON QUADROTOR FLIGHT USING ANFIS METHOD

Bahri, Syamsul, Andhi Dharmawan

2016 | Skripsi | FMIPA

Quadrotor is an object which can fly by using 4 pieces of the propeller. Rotation of the propeller cause the lifting force what make quadrotor is able to take off and land following the vertical axis or so called Vertical Take Off and Landing (VTOL) and quadrotor can fly in limited area. In this research, to balance quadrotor fly and has the ability to adapt of changing nonlinear state, used PID control system using ANFIS as adaptive control system. ANFIS method is used to generate the value of Kp, Ki and Kd adaptive to changes in the error (e (t)) and the difference between the error (e (t-1)). Then the value of Kp, Ki and Kd is incorporated into the PID control system for controlling the balance of the quadrotor fly. The test results show that the control system is able to maintain balance on quadrotor fly in pitch, roll and yaw angle with a range of input errors from -75o to 75o and the input range error margin from -30o to 30o and the output value of Kp, Ki and Kd respectively of 25 adaptive value.

Kata Kunci : UAV; VTOL; nonlinear controller