Sistem Kendali Ketinggian Quadcopter Menggunakan PID

Setyawan, Gembong Edhi; Setiawan, Eko; Kurniawan, Wijaya

doi:10.25126/jtiik.201522144

Jurnal SINTA 2

Sistem Kendali Ketinggian Quadcopter Menggunakan PID

Jurnal Teknologi Informasi dan Ilmu Komputer (JTIIK) · Vol. 2 No. 2 (2015) · pp. 125–131

DOI: 10.25126/jtiik.201522144
ISSN: 2528-6579, 2355-7699
Published: 2015-07-22
Publisher: Fakultas Ilmu Komputer, Universitas Brawijaya
Language: en

Abstract

AbstrakQuadcopter (Quadrotor Helicopter) merupakan salah satu jenis UAV yang memiliki 4 baling-baling.Quadcopter mempunyai kelebihan pada mobilitas dan fleksibilitas untuk menjelajahi wilayah yang sempit. Penelitian ini adalah tahap awal untuk merancang sistem navigasi otomatis UAV pada quadcopter, yaitu dengan merancang sistem kendali ketinggian UAV quadcopter menggunakan metode PID (Proportional Integral Derivative). Penalaan parameter PID menggunakan metode osilasi zieger nichols. Pemodelan matematis pergerakan quadcopter telah didapatkan di penelitian ini. Hasil dari pemodelan digunakan untuk menentukan parameter PID secara simulasi menggunakan MATLAB. Berdasarkan perangkat yang digunakan dalam quadcopter, pengendalian pergerakan dalam sudut roll (f) dan pitch (q) memperoleh nilai Kp=0,12; Ki=0,037 dan Kd=0,0975. Pengendalian sudut yaw (y) memperoleh Kp=0,9; Ki=0,22 dan Kd=0,76. Sedangkan pengendalian ketinggian (altitude) didapatkan Kp=1,2; Ki=0,28 dan Kd=1,13.Kata kunci: ketinggian, PID, quadcopter, sistem kendali, UAVAbstractQuadcopter (Quad rotor Helicopter) is one type of UAV that has 4 propellers. The advantages of quadcopter UAV are the mobility and flexibility to explore a narrow region. This study is an early stage to design the automatic navigation system on the quadcopter UAV. The design of altitude control system of quadcopter UAV using PID (Proportional Integral Derivative) and method of Zieger Nichols became the focus in this study. This study have acquired mathematical modelling quadcopter UAV movement. The results of the modelling used to determine the PID parameters using MATLAB simulation. Based on the device used to control the movement of the roll angle (f) and pitch (q) obtained Kp = 0.12; Ki = 0.037 and Kd = 0.0975. Control of the yaw angle (y) obtained Kp = 0.9; Ki = 0.22 and Kd = 0.76. While controlling altitude obtained Kp = 1.2; Ki = 0.28 and Kd = 1.13.Keywords: altitude, control system, PID, quadcopter, UAV

Collaboration network of the authors

19 authors · 40 co-authorship links

Hover or tap a name to highlight its co-authors. Double-click to open the author's page.

University of Brawijaya
Affiliation unknown

Different organisations
Same organisation
Affiliation unknown
Thicker line = more joint articles · bigger circle = more articles

Show as table

Co-author	Organisation	Joint articles
Barlian Henryranu Prasetio	University of Brawijaya	4
Achmad Basuki	University of Brawijaya	2
Edita Rosana Widasari	University of Brawijaya	2
Bayu Priyambadha	University of Brawijaya	1
Barlian Henryranu P.	Affiliation unknown	1
Kasyful Amron	University of Brawijaya	1
Rizky Kurnia A.M.	Affiliation unknown	1
Mochammad Hannats Hanafi Ichsan	University of Brawijaya	1
Hurriyatul Fitriyah	University of Brawijaya	1
Benny Adiwijaya	University of Brawijaya	1
Khafidzun Fadli	University of Brawijaya	1
Hawwin Purnama Akbar	University of Brawijaya	1
Ryzaldi Ananda Fabiana	University of Brawijaya	1
Syahrul Chilmi	University of Brawijaya	1
Dahnial Syauqy	University of Brawijaya	1
Septiyo Budi Perkasa	University of Brawijaya	1

Affiliations come from OpenAlex; journal OAI-PMH metadata carries none. Authors without an OpenAlex ID are matched by name, which can merge or split people.

Metadata source: OAI-PMH (metadata jurnal) https://jtiik.ub.ac.id/index.php/jtiik/en/oai, first harvested 27 Okt 2026, last seen 27 Okt 2026.

Original metadata (oai_dc)

<oai_dc:dc xmlns="http://www.openarchives.org/OAI/2.0/" xmlns:dc="http://purl.org/dc/elements/1.1/" xmlns:oai_dc="http://www.openarchives.org/OAI/2.0/oai_dc/" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="http://www.openarchives.org/OAI/2.0/oai_dc/  http://www.openarchives.org/OAI/2.0/oai_dc.xsd">
	<dc:title xml:lang="id">Sistem Kendali Ketinggian Quadcopter Menggunakan PID</dc:title>
	<dc:creator xml:lang="en">Setyawan, Gembong Edhi</dc:creator>
	<dc:creator xml:lang="en">Setiawan, Eko</dc:creator>
	<dc:creator xml:lang="en">Kurniawan, Wijaya</dc:creator>
	<dc:description xml:lang="id">AbstrakQuadcopter (Quadrotor Helicopter) merupakan salah satu jenis UAV yang memiliki 4 baling-baling.Quadcopter mempunyai kelebihan pada mobilitas dan fleksibilitas untuk menjelajahi wilayah yang sempit. Penelitian ini adalah tahap awal untuk merancang sistem navigasi otomatis UAV pada quadcopter, yaitu dengan merancang sistem kendali ketinggian UAV quadcopter menggunakan metode PID (Proportional Integral Derivative). Penalaan parameter PID menggunakan metode osilasi zieger nichols. Pemodelan matematis pergerakan quadcopter telah didapatkan di penelitian ini. Hasil dari pemodelan digunakan untuk menentukan parameter PID secara simulasi menggunakan MATLAB. Berdasarkan perangkat yang digunakan dalam quadcopter, pengendalian pergerakan dalam sudut roll (f) dan pitch (q)  memperoleh nilai Kp=0,12; Ki=0,037 dan Kd=0,0975. Pengendalian sudut yaw (y) memperoleh Kp=0,9; Ki=0,22 dan Kd=0,76. Sedangkan pengendalian ketinggian (altitude) didapatkan Kp=1,2; Ki=0,28 dan Kd=1,13.Kata kunci: ketinggian, PID, quadcopter, sistem kendali, UAVAbstractQuadcopter (Quad rotor Helicopter) is one type of UAV that has 4 propellers. The advantages of quadcopter UAV are the mobility and flexibility to explore a narrow region. This study is an early stage to design the automatic navigation system on the quadcopter UAV. The design of altitude control system of quadcopter UAV using PID (Proportional Integral Derivative) and method of Zieger Nichols became the focus in this study. This study have acquired mathematical modelling quadcopter UAV movement. The results of the modelling used to determine the PID parameters using MATLAB simulation. Based on the device used to control the movement of the roll angle (f) and pitch (q) obtained Kp = 0.12; Ki = 0.037 and Kd = 0.0975. Control of the yaw angle (y) obtained Kp = 0.9; Ki = 0.22 and Kd = 0.76. While controlling altitude obtained Kp = 1.2; Ki = 0.28 and Kd = 1.13.Keywords: altitude, control system, PID, quadcopter, UAV</dc:description>
	<dc:publisher xml:lang="en">Fakultas Ilmu Komputer, Universitas Brawijaya</dc:publisher>
	<dc:date>2015-07-22</dc:date>
	<dc:type>info:eu-repo/semantics/article</dc:type>
	<dc:type>info:eu-repo/semantics/publishedVersion</dc:type>
	<dc:format>application/pdf</dc:format>
	<dc:identifier>https://jtiik.ub.ac.id/index.php/jtiik/article/view/144</dc:identifier>
	<dc:identifier>10.25126/jtiik.201522144</dc:identifier>
	<dc:source xml:lang="id">Jurnal Teknologi Informasi dan Ilmu Komputer; Vol 2 No 2: Oktober 2015; 125-131</dc:source>
	<dc:source xml:lang="en">Jurnal Teknologi Informasi dan Ilmu Komputer; Vol. 2 No. 2: Oktober 2015; 125-131</dc:source>
	<dc:source>2528-6579</dc:source>
	<dc:source>2355-7699</dc:source>
	<dc:source>10.25126/jtiik.201522</dc:source>
	<dc:language>en</dc:language>
	<dc:relation>https://jtiik.ub.ac.id/index.php/jtiik/article/view/144/pdf</dc:relation>
	<dc:rights xml:lang="en">Copyright (c) 2016 Jurnal Teknologi Informasi dan Ilmu Komputer</dc:rights>
</oai_dc:dc>