| Issue |
BIO Web Conf.
Volume 65, 2023
EBWFF 2023 - International Scientific Conference Ecological and Biological Well-Being of Flora and Fauna (Part 2)
|
|
|---|---|---|
| Article Number | 07011 | |
| Number of page(s) | 8 | |
| Section | Environmental Protection Engineering | |
| DOI | https://doi.org/10.1051/bioconf/20236507011 | |
| Published online | 04 September 2023 | |
Altitude Control of UAV Quadrotor Using PID and Integral State Feedback
1 Universitas Ahmad Dahlan, Tamanan, Banguntapan, Bantul, Yogyakarta, 55191, Indonesia
2 Universitas Muhammadiyah Yogyakarta, Geblegan, Tamantirto, Kasihan, Bantul, Yogyakarta, 55183, Indonesia
3 Universitas Islam Negeri Sunan Kalijaga, Papringan, Caturtunggal, Depok, Sleman, Yogyakarta 55281, Indonesia
* Corresponding author: alfianmaarif@ee.uad.ac.id
Applications of control techniques for stabilizing altitude in a UAV Quadrotor, along with a comprehensive performance comparison, are presented in this paper. The two compared control techniques are: a Proportional Integral Derivative (PID) and Integral State Feedback (ISF) controller. While PID control consists of a Proportional, an Integral and a Derivative Controller, the Integral State Feedback consists of an Integral and a State Feedback Controller. Each part of the control technique provides advantages and drawbacks in the controlled system performance. Numerical simulations in the research were performed on Simulink MATLAB to provide quantitative results in control performance comparison; thus, a quadrotor model was designed prior to the application of control techniques. Based on the numerical results, ISF control resulted in a better settling time with zero overshoot than PID. Meanwhile, the PID control had a better rise time with a big overshoot than ISF in its system response. Therefore, it can be concluded that the ISF Controller was better than PID regarding the settling time and the overshoot response.
© The Authors, published by EDP Sciences, 2023
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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