Perancangan Algoritma Kontrol Dua Quadcopter Otonom Secara Simultan Dengan Pendekatan Leader-Follower

Sek, Hyun (2024) Perancangan Algoritma Kontrol Dua Quadcopter Otonom Secara Simultan Dengan Pendekatan Leader-Follower. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Salah satu aplikasi utama untuk kendaraan udara tak berawak (Unmanned Aerial Vehicles - UAVs) otonom dengan kemampuan hovering adalah kontrol formasi menggunakan satu atau lebih UAV sayap putar, yang dikenal dengan quadcopter atau yang lebih dikenal dengan drone. Quadcopter yang beroperasi dalam formasi memerlukan pengetahuan tentang posisi relatif antara anggota yang bekerja sama tanpa kehilangan kontak, sehingga dibutuhkan algoritma yang efektif dan efisien. Kontrol formasi biasanya didekati dengan pendekatan leader-follower. Dalam formasi leader-follower, quadcopter pengikut akan mendeteksi vektor posisi milik quadcopter pemimpin pada jarak tertentu. Dalam penelitian ini, dilakukan perancangan algoritma kontrol dua quadcopter otonom secara simultan untuk menjalankan suatu misi dengan bantuan kontroler PD. Hasil simulasi menunjukkan bahwa uji closed loop dari lintasan awal penerbangan sederhana (takeoff-hover-cruise) memiliki nilai rise time terbesar sebesar 3,96 s, steady state error terbesar sebesar 0,0018 m, dan maximum overshoot terbesar sebesar 4,7%. Percobaan lebih lanjut terkait kinerja dari algoritma leader-follower dalam penelitian ini, dilakukan simulasi dengan membuat variasi misi lintasan penerbangan, yaitu lintasan penerbangan zigzag, seperempat lingkaran, dan mendaki. Hasil penelitian menunjukkan bahwa error jarak kedua quadcopter selama penerbangan, tidak lebih dari 0,6 m. Dari semua variasi percobaan, terlihat bahwa algoritma ini, quadcopter pengikut tidak akan pernah melewati pemimpinnya karena selalu menunggu perintah dari pemimpin terlebih dahulu.
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One of the main applications for autonomous Unmanned Aerial Vehicles (UAVs) capable of hovering is formation control using one or more rotary-wing UAVs, known as quadcopters or commonly known as drones. Quadcopters operating in formation require knowledge of the relative position between collaborating members without losing contact, thus requiring an effective and efficient algorithm. Formation control is usually approached with a leader-follower strategy. In a leader-follower formation, the following quadcopter will detect the position vector of the leading quadcopter at a certain distance. In this study, the simultaneous design of the control algorithm for two autonomous quadcopters is conducted to execute a mission with the assistance of PD controllers. Simulation results indicate that the closed-loop test of the initial simple flight path (takeoff-hover-cruise) has the largest rise time value of 3.96 s, the largest steady-state error of 0.0018, and the largest maximum overshoot of 4.7%. Further experiments related to the performance of the leader-follower algorithm in this study involve simulations with variations in flight mission paths, such as zigzag, quarter circle, and climb flight paths. The research results show that the distance error between the two quadcopters during flight is no more than 0.6 m. From all experimental variations, it is observed that with this algorithm, the following quadcopter will never surpass its leader because it always waits for commands from the leader first.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Algoritma, Error Jarak, Kontroler, Leader-follower, Quadcopter Algorithm, Error Distance, Controller, Leader-follower, Quadcopter
Subjects:	T Technology > TJ Mechanical engineering and machinery > TJ223 PID controllers T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL776 .N67 Quadrotor helicopters--Automatic control U Military Science > UG1242 Drone aircraft--Control systems. (unmanned vehicle) U Military Science > U Military Science (General) > UG Military Engineering > UG1242.D7 Unmanned aerial vehicles. Drone aircraft
Divisions:	Faculty of Industrial Technology and Systems Engineering (INDSYS) > Physics Engineering > 30201-(S1) Undergraduate Thesis
Depositing User:	Hyun Sek
Date Deposited:	06 Feb 2024 02:08
Last Modified:	06 Feb 2024 02:08
URI:	http://repository.its.ac.id/id/eprint/106232

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