SYSTEM IDENTIFICATION AND PID TUNING FOR GUIDANCE SYSTEM OF UNMANNED AERIAL VEHICLE

• Main Author: Arindadewi, Reghina
• Format: Final Project
• Language: Indonesia
• Online Access: https://digilib.itb.ac.id/gdl/view/41464
• Institution: Institut Teknologi Bandung

Guidance system, together with navigation and control, are branches of engineering dealing with the design of systems to control the movement of vehicles. Guidance refers to the determination of the desired path of travel from the vehicle's current location to a designated target, as well as desired changes in velocity, rotation and acceleration for following that path. Guidance system is different with control system, which refers to the manipulation of the forces, by way of steering controls, needed to execute guidance commands whilst maintaining vehicle stability. In these past few years, the coordination of Unmanned Aerial Vehicle and Unmanned Ground Vehicle has been widely researched. One of its applications is used in the military sector to monitor and map the spreading of hazardous chemical substances. The coordinations include automatic take off, automatic tracking, and automatic landing. Guidance system is one of the main support systems of UAV and UGV coordination, which is related to tracking and landing features. The landing process of UAV on the pad of UGV still often fail. However, this problem is crucial because it is related to the lifetime of the UAV itself. Due to those concerns, some improvement is being done in the UAV guidance system. UAV guidance mechanism needs to be combined with a PID controller to elevate the response of the systems in tracking and landing features. The PID parameters are gained from mathematical models as the result of black box identification system process. After the models are gained, it will be proceed to further Ziegler-Nichols step for PID tuning. The PID is designed in a cascade form of P-PID, which the outer loop will control the position and the inner loop will control the velocity.