The Design of Optimal PID Control Method for Quadcopter Movement Control

International Journal of artificial intelligence research

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Title The Design of Optimal PID Control Method for Quadcopter Movement Control
Creator Arrosida, Hanum
Echsony, Mohammad Erik
Subject Control System; Artificial Intelligence;
Quadcopter; Optimal PID; Tuning Gain; Minimum energy function;
Description Nowadays, quadcopter motion control has become a popular research topic because of its versatile ability as an unmanned aircraft can be used to alleviate human labor and also be able to reach dangerous areas or areas which is unreachable to humans. On the other hand, the Optimal PID control method, which incorporates PID and Linear Quadratic Regulator (LQR) control methods, has also been widely used in industry and research field because it has advantages that are easy to operate, easy design, and a good level of precision. In the PID control method, the main problem to be solved is the accuracy of the gain value Kp, Ki, and Kd because the inappropriateness of those value will result in an imprecise control action. Based on these problems and referring to the previous study, the optimal PID control method was developed by using PID controller structure with tuning gain parameter of PID through Linear Quadratic Regulator (LQR) method. Through the integration of these two control methods, the optimum solutions can be obtained: easier controller design process for quadcopter control when crossing the determined trajectories, steady state error values less than 5% and a stable quadcopter movement with roll and pitch angle stabilization at position 0 radians with minimum energy function.
Publisher STMIK Dharma Wacana
Date 2018-06-09
Type info:eu-repo/semantics/article
Peer-reviewed Article
Format application/pdf
Source International Journal of Artificial Intelligence Research; Vol 2, No 1 (2018): June; 1 - 6
Language eng
Rights Copyright (c) 2018 International Journal of artificial intelligence research

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