Sistem Navigasi Visual Servoing Berbasis Gambar pada UAV Menggunakan Integral Sliding Mode Control

Juniarto, Muhammad (2024) Sistem Navigasi Visual Servoing Berbasis Gambar pada UAV Menggunakan Integral Sliding Mode Control. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

UAV telah menarik banyak perhatian di berbagai kalangan peneliti karena kegunaannya di berbagai macam aplikasi. Penggunaan kamera terutama penangkapan objek pada planar gambar sebagai bahan dasar sistem navigasi quadcopter menjadi salah satu metode alternatif dalam sistem navigasi quadcopter, karena data dari gambar dapat dianalisis menjadi berbagai macam kontrol. Image Based Visual Servoing (IBVS) merupakan permasalahan kontrol diungkapkan dalam bentuk koordinat gambar, sehingga yang terjadi pada domain gambar secara tidak langsung mempengaruhi perubahan pose quadcopter. Untuk meningkatkan keandalan, Integral Sliding Mode Control (ISMC) dengan hiperbolik tangen ditambahkan untuk menangani nonlinearitas, serta ketangguhan pada sistem dibanding Sliding Mode Control. Penelitian dilakukan dengan studi simulasi dan uji eksperimental untuk memverifikasi keampuhan metode yang diusulkan dengan tujuannya agar quadcopter dapat mencapai tujuan yang ditentukan. Pada simulasi, sistem diuji dengan parameter kontrol yang berbeda serta efek lingkungan yang diberikan. Berdasarkan hasil simulasi dan implementasi, IBVS-ISMC telah berhasil diterapkan dengan baik menggunakan quadcopter. Pengujian waypoint control pada simulasi dinamika menunjukkan terjadi peningkatan 20% menggunakan kontroler ISMC saat tiada gangguan dan 17% saat gangguan dibandingkan PID serta penurunan efek chattering. Pada simulasi vision feedback, didapatkan RMSE turut sebesar 111.297px, 50.564px masing-masing axis-uv dan hasil implementasi vision feedback memiliki rata-rata RMSE 85.465px, 23.687px atau peningkatan 43% pada axis-u dan 13% pada axis-v dengan menggunakan IBVS-ISMC. Hasilnya mengkonfirmasi pencapaian penempatan gambar target pada posisi yang diinginkan pada bidang gambar.
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UAVs have attracted a lot of attention in various research circles due to their usefulness in various applications. The use of cameras, especially the capture of objects on planar images as the basic material for quadcopter navigation systems, has become one of the alternative methods in quadcopter navigation systems, because data from images can be analysed into various kinds of controls. Image Based Visual Servoing (IBVS) is a control problem expressed in the form of image coordinates, so that what happens in the image domain indirectly affects the change of quadcopter pose. To improve reliability, Integral Sliding Mode Control (ISMC) with hyperbolic tangent is added to handle nonlinearity, as well as robustness in the system compared to Sliding Mode Control. Research is conducted with simulation studies and experimental tests to verify the efficacy of the proposed method with the aim that the quadcopter can achieve the specified goal. In the simulation, the system is tested with different control parameters as well as given environmental effects. Based on simulation and implementation results, IBVS-ISMC has been successfully applied to the quadcopter. The waypoint control test on the dynamics simulation showed an improvement of 20% using ISMC controller in the absence of disturbance and 17% in the presence of disturbance compared to PID as well as a decrease in chattering effect. In vision feedback simulation, the RMSE was 111.297px, 50.564px respectively axis-uv and the vision feedback implementation results had an average RMSE of 85.465px, 23.687px or an improvement of 43% on axis-u and 13% on axis-v using IBVS-ISMC. The results confirm the achievement of target image placement at the desired position on the image plane.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Quadcopter, Visual-Servoing, SMC, Position Control, IBVS.
Subjects:	T Technology > T Technology (General) > T57.62 Simulation T Technology > TA Engineering (General). Civil engineering (General) > TA1637 Image processing--Digital techniques T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL152.8 Vehicles, Remotely piloted. Autonomous vehicles. U Military Science > UG1242 Drone aircraft--Control systems. (unmanned vehicle)
Divisions:	Faculty of Intelligent Electrical and Informatics Technology (ELECTICS) > Electrical Engineering > 20201-(S1) Undergraduate Thesis
Depositing User:	Muhammad Juniarto
Date Deposited:	05 Feb 2024 04:01
Last Modified:	05 Feb 2024 04:01
URI:	http://repository.its.ac.id/id/eprint/106048

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