Pengendalian Kestabilan Ketinggian pada Penerbangan Quadrotor dengan Metode PID Fuzzy

Abstract

Quadrotor is a kind of unmanned aerial vehicle that have the ability to take of vertically and maintaining its position while flying mid-air. Flying a quadrotor sometimes needs a stable altitude to perform a specific mission. A stable altitude will make easier for pilot to control the movement of the quadrotor to certain direction.This study designed and implemented a system that can stabilises the altitude of a quadrotor by using Fuzzy-PID method. Altitude control system needed to help pilot controls the altitude stability without adjusting the throttle. Control with PID method is a common control system to be implemented on a quadrotor. This control system has a constant that can be tuned with fuzzy logic with linguistic approach to improve the response time when compensating an error. The result of this study shows that Fuzzy PID control method generate a better response time compared with the PID-only method. The implementation of PID control generate an altitude stabilisation with a mean value steady state error of ±1,86 cm, whereas the PID Fuzzy generate a mean value of steady state error of ±1,22 cm.