Gilang Nugraha Putu Pratama, Alfian Maarif, Iswanto Iswanto, Evi Wahyu Pratiwi
The control of UAV quadrotors remains a compelling topic in control engineering, largely due to their nonlinear dynamics and complex behavior. Effective altitude control requires a well-designed controller capable of maintaining stability and performance. However, standard controllers may not suffice when confronted with parametric uncertainties or time delays, necessitating the addition of compensators to ensure robust performance. This study proposes a model error compensator designed to mitigate errors arising from parametric uncertainties using the Particle Swarm Optimization (PSO) algorithm. Simulation results confirm that the proposed compensator effectively reduces response variations caused by uncertainties and time delays, demonstrating its potential to enhance the reliability of altitude control in UAV quadrotors. © 2025 The Authors
Department of Electrical and Electronics Engineering, Universitas Negeri Yogyakarta, Jl. Colombo No. 1, Yogyakarta, 55281, Indonesia; Department of Electrical Engineering, Universitas Ahmad Dahlan, Jl. Ringroad Selatan, Yogyakarta, 55164, Indonesia; Department of Electrical Engineering, Universitas Muhammadiyah Yogyakarta, Jl. Brawijaya, Yogyakarta, 55183, Indonesia; BPS-Statistics Indonesia, Jl. Dr. Sutomo 6-8, Jakarta, 10710, Indonesia; SAM Laboratory, Jl. Kertek-Sapuran, Wonosobo, 56372, Indonesia
