Implementasi Fuzzy PID untuk Pengendalian Sudut Pitch pada Pesawat Tanpa Awak
DOI:
https://doi.org/10.24843/MITE.2026.v25.01.p11Keywords:
UAV; Fuzzy PID; Pitch Control; Attitude Control.Abstract
Kestabilan sikap terbang (attitude control) pada pesawat tanpa awak (Unmanned Aerial Vehicle/UAV), khususnya pada sumbu pitch, merupakan aspek penting yang menentukan keberhasilan sistem penerbangan. Pengendali Proportional Integral Derivative (PID) konvensional dengan parameter tetap memiliki keterbatasan dalam menghadapi karakteristik sistem yang bersifat nonlinier dan gangguan eksternal, sehingga berpotensi menghasilkan respons yang lambat, overshoot, dan osilasi. Penelitian ini bertujuan mengimplementasikan pengendali Fuzzy PID berbasis inferensi Mamdani untuk melakukan penalaan (auto-tuning) parameter , , dan secara adaptif pada sistem kendali sudut pitch pesawat tanpa awak tipe FT-Explorer. Sistem diimplementasikan menggunakan mikrokontroler Teensy 3.5 dengan masukan berupa error dan delta error, serta menggunakan basis aturan (rule base) sebanyak 49 aturan (7x7) dan metode weighted average pada proses defuzzifikasi. Evaluasi dilakukan melalui pengujian terbang dan dibandingkan dengan pengendali PID konvensional berdasarkan parameter overshoot, rise time, settling time, dan steady-state error. Hasil pengujian menunjukkan bahwa pengendali Fuzzy PID menghasilkan rise time sebesar 0,8 detik, overshoot sebesar 3,14°, settling time sebesar 3,3 detik, dan steady-state error sebesar 0,24°, lebih baik dibandingkan PID konvensional yang menghasilkan rise time 2,5 detik, overshoot 5,19°, settling time 7,7 detik, dan steady-state error −0,90°. Hasil tersebut menunjukkan bahwa Fuzzy PID mampu meningkatkan kecepatan respons, kestabilan, dan kemampuan adaptasi sistem sehingga lebih efektif diterapkan pada pengendalian sudut pitch pesawat tanpa awak.
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Copyright (c) 2026 Try Susanto, Jihad Caesar Pratama (Author)
This work is licensed under a Creative Commons Attribution 4.0 International License.
Jurnal MITE 1 (Majalah Ilmiah Teknologi Elektro) Universitas Udayana menggunakan lisensi akses terbuka Creative Commons Attribution 4.0 International (CC BY 4.0 International).
