IMPLEMENTASI METODE PID (PROPORTIONAL INTEGRAL DERIVATIVE) FUZZY PADA SISTEM PENERBANGAN QUADROTOR UNTUK PENELUSURAN LORONG BERBELOK; IMPLEMENTATION OF FUZZY PID ON QUADROTOR FOR PATH TURN FOLLOWING

PERWIRA, ZANDY YUDHA, Andi Dharmawan

2016 | Skripsi | FMIPA

A Quadrotor is one of many types of Unmanned Aerial Vehicle which requires a control system for flight system. Quadrotor have a mission which can flying where ever such as mission for tracking path turn. Quadrotor for mission to following path turn requires control system addition to help quadrotor’s position keep hold in center of path. The control system use PID, PID controller is linear controller and use for quadrotor which have non-linear characteristic. Because of that require a method which can handle non-linear condition with Fuzzy logic. In this research, the fuzzy method is use to tuning PID and PI constants on. The input of fuzzy logic is the error and delta error. Input and output fuzzy are also grouped into five linguistic sets. The linguistic sets are made into 25 fuzzy rules. The test result showed that Fuzzy-PID methods have better response than the PID method. Fuzzy-PID on pitch and roll has an error range [-50? 50?], and delta error [-10? 10?]. The range of the output fuzzy for Kp [0.0723 0.0763], Ki [0.0048 0.0088], and Kd [0.0194 0.0234]. And the PI-fuzzy has an error range [-60 60] cm, and delta error [-12 12] cm. The range of the output fuzzy for Kp [2.0 2.6], and Ki [0.6 0.1]. Where the pitch and roll response speed of 5.0 seconds and path following response speed 2.25 seconds.

Kata Kunci : UAV, error, delta error, PI, non-linear