PENALAAN PID OTOMATIS DENGAN METODE ROUTH DAN PENDEKATAN LYAPUNOV PADA PENAHAN KETINGGIAN QUADROTOR; AUTOMATIC PID TUNING WITH ROUTH METHODS AND LYAPUNOV APPROACH ON RETAINING THE ALTITUDE OF QUADROTOR

SETYATAMA, TITO NUR HENDRA PUTRA, Andhi Dharmawan

2016 | Skripsi | FMIPA

Control of quadrotor needed to fly approaching a stationary state and hold altitude. Control technique used is a PID controller with tuning constants Kp, Ki, and Kd based methods both PID Ziegler-Nichols performed in MATLAB using the transfer function of pitch, roll, yaw angle, and height. Ku constants obtained using Routh Stability. Constants that have been obtained are validated, then analyzed according to Lyapunov stability theory to determine the stability of system. In the study, obtained the constants Kp, Ki, and Kd the pitch angle that is 0.058, 0.018, and 0.045, the roll angle that is 0.056, 0.014, and 0.033, the yaw angle of 5.4, 0.5, and 0.47, and the height is 0.21, 0.003, and 0.001. From the results obtained flight test value range steady state error in pitch angle is -3,128o up to 3.236°, the roll angle is -4,218o up to 3,914°, the yaw angle is -1,115o up to 2,151°, and the height is 73 cm up to 89 cm. Based on Lyapunov stability theory, the constant Kp, Ki, and Kd at an angle of pitch, roll, yaw and altitude gained is stable asymptotic.

Kata Kunci : Ziegler-Nichols, Euler-Lagrange, transfer function