Implementation of Kalman Filter on PID Based Quadcopter for Controlling Pitch Angle
Improving quadcopter control systems poses significant challenges in unmanned flight technology development. Key issues include the intricate nature of PID and Kalman filter parameter settings, necessitating profound knowledge of system dynamics and sensor properties. Furthermore, successfully integ...
Saved in:
| Main Authors: | , , , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Institut Teknologi Dirgantara Adisutjipto
2025-02-01
|
| Series: | Aviation Electronics, Information Technology, Telecommunications, Electricals, Controls |
| Subjects: | |
| Online Access: | https://ejournals.itda.ac.id/index.php/avitec/article/view/2743 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1850167308328108032 |
|---|---|
| author | Ernando Rizki Dalimunthe Novan Dwiki Ananda Jaka Persada Sembiring Muhammad Anwar Sadat Faidar Elka Pranita Akhmad Jayadi Novia Utami Putri |
| author_facet | Ernando Rizki Dalimunthe Novan Dwiki Ananda Jaka Persada Sembiring Muhammad Anwar Sadat Faidar Elka Pranita Akhmad Jayadi Novia Utami Putri |
| author_sort | Ernando Rizki Dalimunthe |
| collection | DOAJ |
| description | Improving quadcopter control systems poses significant challenges in unmanned flight technology development. Key issues include the intricate nature of PID and Kalman filter parameter settings, necessitating profound knowledge of system dynamics and sensor properties. Furthermore, successfully integrating the Kalman Filter with PID control demands meticulous coordination to optimize state estimation precision and system responsiveness. This research emphasizes the incorporation of the Kalman filter into PID-based control for quadcopter pitch angle regulation. The Proportional-Integral-Derivative (PID) approach governs pitch angle, augmented by the Kalman Filter, to enhance estimation accuracy and mitigate sensor uncertainty. Optimal outcomes during system response testing were achieved with parameters of Kp at 2.95, Ki at 0.23, and Kd at 0.02, resulting in superior oscillatory response, including a 9-degree overshoot, a 5-second rise time, a 15-second settling time, and a 0.15-degree steady-state error, showcasing effective regulation of the quadcopter pitch angle. A concurrent observation during testing indicated that including the Kalman filter led to a significantly reduced overshoot compared to tests without it; conversely, the settling time experienced considerable acceleration, while measurement accuracy in the steady-state condition improved by 50%. |
| format | Article |
| id | doaj-art-d9eeb44cdcc9431f9dc58fbb11675242 |
| institution | OA Journals |
| issn | 2685-2381 2715-2626 |
| language | English |
| publishDate | 2025-02-01 |
| publisher | Institut Teknologi Dirgantara Adisutjipto |
| record_format | Article |
| series | Aviation Electronics, Information Technology, Telecommunications, Electricals, Controls |
| spelling | doaj-art-d9eeb44cdcc9431f9dc58fbb116752422025-08-20T02:21:13ZengInstitut Teknologi Dirgantara AdisutjiptoAviation Electronics, Information Technology, Telecommunications, Electricals, Controls2685-23812715-26262025-02-0171415110.28989/avitec.v7i1.27431014Implementation of Kalman Filter on PID Based Quadcopter for Controlling Pitch AngleErnando Rizki Dalimunthe0Novan Dwiki Ananda1Jaka Persada Sembiring2Muhammad Anwar Sadat Faidar3Elka Pranita4Akhmad Jayadi5Novia Utami Putri6Universitas Teknokrat IndonesiaUniversitas Teknokrat IndonesiaUniversitas Teknokrat IndonesiaUniversitas Teknokrat IndonesiaUniversitas Teknokrat IndonesiaPoliteknik Negeri LampungPoliteknik Negeri LampungImproving quadcopter control systems poses significant challenges in unmanned flight technology development. Key issues include the intricate nature of PID and Kalman filter parameter settings, necessitating profound knowledge of system dynamics and sensor properties. Furthermore, successfully integrating the Kalman Filter with PID control demands meticulous coordination to optimize state estimation precision and system responsiveness. This research emphasizes the incorporation of the Kalman filter into PID-based control for quadcopter pitch angle regulation. The Proportional-Integral-Derivative (PID) approach governs pitch angle, augmented by the Kalman Filter, to enhance estimation accuracy and mitigate sensor uncertainty. Optimal outcomes during system response testing were achieved with parameters of Kp at 2.95, Ki at 0.23, and Kd at 0.02, resulting in superior oscillatory response, including a 9-degree overshoot, a 5-second rise time, a 15-second settling time, and a 0.15-degree steady-state error, showcasing effective regulation of the quadcopter pitch angle. A concurrent observation during testing indicated that including the Kalman filter led to a significantly reduced overshoot compared to tests without it; conversely, the settling time experienced considerable acceleration, while measurement accuracy in the steady-state condition improved by 50%.https://ejournals.itda.ac.id/index.php/avitec/article/view/2743quadcopterpidkalman filter |
| spellingShingle | Ernando Rizki Dalimunthe Novan Dwiki Ananda Jaka Persada Sembiring Muhammad Anwar Sadat Faidar Elka Pranita Akhmad Jayadi Novia Utami Putri Implementation of Kalman Filter on PID Based Quadcopter for Controlling Pitch Angle Aviation Electronics, Information Technology, Telecommunications, Electricals, Controls quadcopter pid kalman filter |
| title | Implementation of Kalman Filter on PID Based Quadcopter for Controlling Pitch Angle |
| title_full | Implementation of Kalman Filter on PID Based Quadcopter for Controlling Pitch Angle |
| title_fullStr | Implementation of Kalman Filter on PID Based Quadcopter for Controlling Pitch Angle |
| title_full_unstemmed | Implementation of Kalman Filter on PID Based Quadcopter for Controlling Pitch Angle |
| title_short | Implementation of Kalman Filter on PID Based Quadcopter for Controlling Pitch Angle |
| title_sort | implementation of kalman filter on pid based quadcopter for controlling pitch angle |
| topic | quadcopter pid kalman filter |
| url | https://ejournals.itda.ac.id/index.php/avitec/article/view/2743 |
| work_keys_str_mv | AT ernandorizkidalimunthe implementationofkalmanfilteronpidbasedquadcopterforcontrollingpitchangle AT novandwikiananda implementationofkalmanfilteronpidbasedquadcopterforcontrollingpitchangle AT jakapersadasembiring implementationofkalmanfilteronpidbasedquadcopterforcontrollingpitchangle AT muhammadanwarsadatfaidar implementationofkalmanfilteronpidbasedquadcopterforcontrollingpitchangle AT elkapranita implementationofkalmanfilteronpidbasedquadcopterforcontrollingpitchangle AT akhmadjayadi implementationofkalmanfilteronpidbasedquadcopterforcontrollingpitchangle AT noviautamiputri implementationofkalmanfilteronpidbasedquadcopterforcontrollingpitchangle |