PERBANDINGAN SISTEM KENDALI PID DAN FUZZY LOGIC PADA QUADCOPTER

Muhammad Fajar Kesuma, Fajar (2021) PERBANDINGAN SISTEM KENDALI PID DAN FUZZY LOGIC PADA QUADCOPTER. Diploma thesis, UNIVERSITAS BUNGHATTA.

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Abstract

ABSTRACT The control system is a structured system for controlling, commanding and managing the work of an object. The PID control system (proportional, integral, derivative) is a control system for determining the accuracy of an instrumentation system with feedback. Fuzzy logic is a control system that takes into account the data value of an object's work, in human logic calculations with parameters (IF - THEN), will be converted into mathematical form using of the membership curve function used in fuzzy logic. PID has a simple method to overcome the errors that occur, by determining the values of Kp, Ki and Kd, to get the optimal PID constant, this is done using the black box tuning method. Fuzzy logic mamdani has a complex method, where to get the required output 4 steps including, variable identification, membership function design, rule base, defuzzy. good results on the test, got a good system response on the quadcopter with a value of Kp = 1.4, Ki = 0.02 and Kd = 1.3. With a smoother graphic form and the quadcopter is able to maintain its position at the set value. Keywords : Control system, PID, fuzzy logic, constant PID.

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