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All Journal Mechatronics, Electrical Power, and Vehicular Technology CommIT (Communication & Information Technology) EMITTER International Journal of Engineering Technology
Niam Tamami
Electronics Engineering Polytechnic Institute of Surabaya
Computer Science & IT Electrical & Electronics Engineering

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A Combination of PD Controller and PIAFC for Stabilization of “x” Configuration Quadcopter Tamami, Niam; Pitowarno, Endra; Astawa, I Gede Puja
EMITTER International Journal of Engineering Technology Vol 2, No 1 (2014)
Publisher : Politeknik Elektronika Negeri Surabaya (PENS)

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.24003/emitter.v2i1.13

Abstract

This paper presents a stabilization control method for “x” configuration quadcopter. The control method used the combination of PD (Proportional Derivative) controller and PIAFC (Proportional Integral Active Force Control). PD is used to stabilize quadcopter, and PIAFC is used to reject uncertainty disturbance (e.g. wind) by estimating disturbance torque value of quadcopter. The PD with PIAFC provided better result where PIAFC could minimize uncertain disturbance effect. The simulation has successfully give comparation about controller performance (PD, PD-AFC, PD-PIAFC) by calculate RMS (Root Mean Square) value. PD with AFC gives better result than PD. AFC optimization using PI (PD-PIAFC) give best result if compared with PD or PD-AFC. PD-PIAFC has lowest RMS value of result control signal, 0.0389 for constant disturbance and 0.1008 for fluctuated disturbance.Keywords:“x” configuration quadcopter, stability, PD, PIAFC.
An Implementation of Grouping Nodes in Wireless Sensor Network Based on Distance by Using k-Means Clustering Azhar, Rizqi Fauzil; Zainudin, Ahmad; Kristalina, Prima; Prakoso, Bagas Mardiasyah; Tamami, Niam
CommIT (Communication and Information Technology) Journal Vol 12, No 2 (2018): CommIT Vol. 12 No. 2 Tahun 2018
Publisher : Bina Nusantara University

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.21512/commit.v12i2.4714

Abstract

Wireless Sensor Network (WSN) is a network consisting of several sensor nodes that communicate with each other and work together to collect data from the surrounding environment. One of the WSN problems is the limited available power. Therefore, nodes on WSN need to communicate by using a cluster-based routing protocol. To solve this, the researchers propose a node grouping based on distance by using k-means clustering with a hardware implementation. Cluster formation and member node selection are performed based on the nearest device of the sensor node to the cluster head. The k-means algorithm utilizes Euclidean distance as the main grouping nodes parameter obtained from the conversion of the Received Signal Strength Indication (RSSI) into the distance estimation between nodes. RSSI as the parameter of nearest neighbor nodes uses lognormal shadowing channel modeling method that can be used to get the path loss exponent in an observation area. The estimated distance in the observation area has 27.9% error. The average time required for grouping is 58.54 s. Meanwhile, the average time used to retrieve coordinate data on each cluster to the database is 45.54 s. In the system, the most time-consuming process is the PAN ID change process with an average time of 14.20 s for each change of PAN ID. The grouping nodes in WSN using k-means clustering algorithm can improve the power efficiency by 6.5%.
Proportional Derivative Active Force Control for “X? Configuration Quadcopter Tamami, Niam; Pitowarno, Endra; Astawa, I Gede Puja
Journal of Mechatronics, Electrical Power and Vehicular Technology Vol 5, No 2 (2014)
Publisher : Research Centre for Electrical Power and Mechatronics, Indonesian Istitutes of Sciences

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (3066.116 KB) | DOI: 10.14203/j.mev.2014.v5.67-74

Abstract

This paper present a control method “x? configuration quadcopter. The control method used PDAFC (Proportional Derivative Active Force Control). PD is used to stabilize quadcopter, and AFC is used to reject uncertainty disturbance (e.g. wind) by estimate disturbance torque value of quadcopter. By adding PD with AFC, better result is obtained, AFC can minimize uncertainty disturbance effect. The sensitivity toward uncertainty disturbance can be set from sensitivity constant to get best performance of disturbance rejection. Stability analysis of PDAFC was evaluated by Lyapunov stability theory.
Co-Authors Abd. Rasyid Syamsuri Azhar, Rizqi Fauzil Endra Pitowarno I Gede Puja Astawa Prakoso, Bagas Mardiasyah Prima Kristalina