Dyah Lestari, Sujito, Siti Sendari, Mohamad Rodhi Faiz, Hung-Yu Wang, Made Radikia Prasanta
The quadcopter is one of the Unmanned Aerial Vehicles that can fly vertically. Problems with the drone such as unresponsive controls and choosing the right control system which has an impact on the instability of the drone. Proportional, Integral, Derivative (PID) has better performance to be applied to the quadcopter. This study applies PID control to the quadcopter control which is tested with a waypoint system. Quadcopter design uses various components such as flight controller, brushless motor 920 kv, electronic speed controller. The results of the calculation of the constant PID value are applied to the drone flight controller and the test is carried out by carrying out a waypoint tracking mission with the PID controller. Testing with a rectangular route waypoint shows that the quadcopter can fly according to the predetermined waypoint with the largest roll deviation value is 20.93^{o}, at pitch by 24.01^{\mathrm{o}}, and the largest deviation change at yaw is 205^{\mathrm{o}} which means the quadcopter can carry out waypoint tracking missions using PID control with high stability. © 2022 IEEE.
State University of Malang, Electrical Engineering Departement, Malang, Indonesia; National Kaohsiung University of Science and Technology, Electronic Engineering Departement, Kaohsiung, Taiwan