Fahmizal, Muhammad Arrofiq, Esa Apriaskar, Afrizal Mayub
This paper presents the modelling steps of balancing bicopter for its roll movement in a rigorous way. This research uses delta speed between two rotors as an input while the roll angle obtained from an inertial measurement unit (IMU) sensor after refined by a complementary filter (CF) considered as an output. The single input and single output (SISO) data are used to build a model. Multi-level periodic perturbation signal (MLPPS) treated as an input signal for the identification process to provide a good model which is indicated by fitness value. A particular cross-distribution of MLPPS data sets is used in the validation process to earn the best model. Furthermore, a simple feedback control scheme is used to re-examine the model with the real system. The result declares that by using MLPPS, simulation of the model conducted in MATLAB Simulink gives a close performance to the measured real experiment which is implemented using Arduino Uno. © 2019 IEEE.
Informatics Vocational College, Universitas Gadjah Mada, Department of Electrical Engineering, Yogyakarta, Indonesia; Universitas Negeri Semarang, Department of Electrical Engineering, Semarang, Indonesia; Graduate School of Science Education, University of Bengkulu, Bengkulu, Indonesia
