Andi Dharmawan

Work place: Department of Computer Science and Electronics, Faculty of Mathematics and Natural Science, Universitas Gadjah Mada, Yogyakarta, Indonesia



Research Interests: Computer systems and computational processes, Information Systems, Database Management System, Process Control System


Andi Dharmawan was born in Surakarta, Indonesia, in 1984. He received the B.Sc. In Electronics and Instrumentations, in 2006 and MCs degree in Computer Sciences in 2009, from the Universitas Gadjah Mada, Indonesia. From 2007 to 2009, he was a Research Assistant with the Department of Computer Sciences and Electronics, Universitas Gadjah Mada Indonesia. Since 2009 until now he joints as a teaching staff at the Department of Computer Sciences and Electronics, Universitas Gadjah Mada, Yogyakarta, Indonesia. He is currently pursuing the PhD degree in computer sciences and electronics at Universitas Gadjah Mada Indonesia. His research interests include the development of control systems for robotics, especially in the control system for Unmanned Aerial Vehicle (UAV), autonomous unmanned systems, and intelligent control systems.

Author Articles
Translation Movement Stability Control of Quad Tiltrotor Using LQR and LQG

By Andi Dharmawan Ahmad Ashari Agfianto Eko Putra

DOI:, Pub. Date: 8 Mar. 2018

Quadrotor as one type of UAV (Unmanned Aerial Vehicle) is a system that underactuated. It means that the system has a signal control amount is lower than the degrees of freedom or DOF (Degree Of Freedom). This condition causes the quadrotor have limited mobility. If quadrotor is made to have 6 DOF or more (overactuated system), the motion control system to optimise the flight will be different from before. We need to develop overactuated quadrotor control. Quadtiltrotor as the development of quadrotor has some control signal over its DOF. So we call it as an overactuated system. Based on the type of manoeuvre to do, the transition process when the quad tiltrotor performs a translational motion using the tilting rotor need special treatment. The tilt angle change is intended that the quad tiltrotor can perform translational motion while still maintaining its orientation angle near 0°. This orientation angle can change during the undesirable rotational movement as the effect of the transition process. If additional rotational movements cannot be damped, the quad tiltrotor can experience multi overshoot, steady-state error, or even fall. Because of this matter, we need to develop flight control system to handle it. The flight control system of quad tiltrotor can be designed using a model of the system. Models can be created using quad tiltrotor dynamics by the Newton-Euler approach. Then the model is simulated along with the control system using the method of control. Several control methods can be utilised in a quad tiltrotor flight systems. However, with the implementation of LQG control method and Integrator, optimal translational control of the quad tiltrotor can be achieved.

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