Perancangan Pengendalian Hover Quadcopter Menggunakan Pengendali Hybrid Fuzzy Dan Proportional Integral Derivative (PID)

Hover quadcopter system able to free fly hover simpl, because it have a small shape and a light mass then make it easy. However it because quadcopter have a light mass then quadcopter have a weakness that is quadcopter easy to get disturbance from external like wind attack. this simulation of quadcopter using MATLAB R2013a software with controller using hybrid fuzzy-PID. Fuzzy Logic Control is a high intelegance control and able to make interaction with around conditions that might be happened, and it works by given rules input and output based on the conditions. The analysis shown hybrid fuzzyPID controller have a good responses and faster than a single fuzz logic control. In the fuzzy logic control shown successful to reach setpoint 0.1 rad, but have a longer time responses than hybrid fuzzy-PID controller. Fuzzy Logic Control (FLC) at Roll angle position shown response 3.2088 s, pitch with 3.256 s and yaw with 3.3045 s. While on hybrid fuzzy-PID controller shown at the angle position of Roll with 0.02896 s, pitch angle position is 2.3138 s and yaw angle position with 0.2611 s. However when quadcopter given disturbance, fuzzy logic control shown better than hybrid fuzzy-PID controller. Fuzzy Logic Control when given a disturbance a time 10 untul 11 second successful to solve the disturbance without an problem. While on hybrid fuzzy-PID when given a disturbance it needs more longer time to reach back the setpoint.