Abstrak Quadrotor merupakan jenis UAV (Unmanned AerialVehicle

No abstract

-Fixed-wing UAV has the ability to fly like a plane. For the movement of the flight, a good control system is needed. Part of the flight controls that require our attention among them is the vertical moving control. The controls are used to adjust the vertical movement involving aircraft pitch angle control. To control it, we can use control method that has been commonly used. The control method is a PID (Propositional, Integral and Derivative) control method. PID has three components (Kp, Ki, and Kd). The three components of PID can be obtained in various ways or methods. However, to produce a robust control, a method that can optimize the PID components is needed. Ant Colony Optimization (ACO) is one of PID controller optimization method which adapted by ant colony ability to find the shortest way from their nest to food. Some ACO parameters are a number of ants, parameters, and pheromone component for pheromone. Pheromones are the values given by the ants when they use the road.

Abstrak Quadrotor adalah salah satu jenis UAV (Unmanned Aerial Vehicle) dengan sayap putar (rotary wing)

Quadrotor as one type of UAV (Unmanned Aerial Vehicle) is an underactuated mechanical system. It means that the system has some control inputs is lower than its DOF (Degrees of Freedom). This condition causes quadrotor to have limited mobility because of its inherent under actuation, namely, the availability of four independent control signals (four-speed rotating propellers) versus 6 degrees of freedom parameterizing quadrotor position or orientation in space. If a quadrotor is made to have 6 DOF, a full motion control system to optimize the flight will be different from before. So it becomes necessary to develop over actuated quad tiltrotor. Quad tiltrotor has control signals more than its DOF. Therefore, we can refer it to the overactuated system. We need a good control system to fly the quad tiltrotor. Good control systems can be designed using the model of the quad tiltrotor system. We can create quad tiltrotor model using its dynamics based on Newton-Euler approach. After we have a set of model, we can simulate the control system using some control method. There are several control methods that we can use in the quad tiltrotor flight system. However, we can improve the control by implementing a modern control system that uses the concept of state space. The simulations show that the quad tiltrotor has done successful translational motion without significant interference. Also, undesirable rotation movement in the quad tiltrotor flight when performing the translational motions resulting from the transition process associated with the tilt rotor change was successfully reduced below 1 degree.