PENGEMBANGAN METODE BACKSTEPPING BERLANDASKAN PID PADA SISTEM NONLINIER UNTUK PENERBANGAN QUADROTOR; DEVELOPMENT OF BACKSTEPPING BASED PID METHOD ON NON LINEAR SYSTEM FOR QUADROTOR FLIGHT

Ramadhan, Gilang, Andi Dharmawan

2016 | Skripsi | FMIPA

Quadrotor is one type of unmanned aircraft that has the ability to fly off vertically that can be applied to aerial photography, surveillance, and other needs that require stability to fly in the air. Control system is required to gain the ability to fly stable. In this study, designed and created a system that is capable of stabilizing quadrotor currently hovering flight conditions by maintaining the angle of roll, pitch, and yaw using backstepping PID. PID method is one of the common control system applied to the quadrotor. This study implements backstepping method to obtain the PID parameter values of the angle of roll, pitch, and yaw. Backstepping method is used to contain the constants c and k in the process of calculating value ofKp, Ki, and Kd. Results tuning PID using Ziegler-Nichols method and classical tuning has generated optimal value of Kp and Ki for each angle, which are used as value of constant k for each angle. After manually tuning constants k and c, the result of implementation of PID Backstepping control produce a stable control system with a value of steady-state error ? ± 2? roll angle, pitch angle of ? ± 2?, and yaw angle ? ± 4?.

Kata Kunci : quadrotor; Backstepping; PID