Perancangan Sistem Kendali untuk Kestabilan Formasi dan Ketinggian pada Multiquadcopter dengan Gangguan Eksternal Berbasis SMC-Fuzzy

Sitorus, Grady Immanuel (2024) Perancangan Sistem Kendali untuk Kestabilan Formasi dan Ketinggian pada Multiquadcopter dengan Gangguan Eksternal Berbasis SMC-Fuzzy. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Quadcopter, sebagai salah satu jenis UAV yang populer, semakin banyak digunakan dalam berbagai aplikasi. Penggunaan formasi multiquadcopter menawarkan potensi peningkatan kinerja, namun memiliki sistem kendali yang lebih kompleks untuk menjaga stabilitas, terutama saat menghadapi gangguan eksternal seperti angin. Penelitian ini berfokus pada perancangan sistem kendali ketinggian untuk multiquadcopter berbasis SMC dengan Fuzzy Logic sebagai auto-tuning gain SMC. Sistem ini dirancang khusus untuk mengatasi gangguan angin yang berhembus dari arah bawah. Hasil simulasi menunjukkan bahwa sistem kendali SMC-Fuzzy yang dirancang mampu menjaga kestabilan ketinggian multiquadcopter dengan RMSE yang sangat kecil, baik dalam kondisi tanpa gangguan maupun saat diberikan gangguan step dan sinus. Pengujian dilakukan pada dua profil misi, dan pada kedua profil tersebut, baik quadcopter leader maupun follower menunjukkan RMSE yang sangat rendah. Pada profil misi 1, nilai RMSE leader berkisar antara 0,0032-0,0128 m, sedangkan follower memiliki RMSE antara 0,0033-0,0051 m. Sementara itu, pada profil misi 2, nilai RMSE leader berada pada rentang 0,0034-0,0049 m, dan follower memiliki RMSE antara 0,0035-0,0038 m. RMSE ini menunjukkan peformansi sistem kendali yang baik dalam mempertahankan ketinggian yang diinginkan.
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Quadcopter, as one of the most popular types of UAVs, is increasingly being used in various applications. The use of multiquadcopter formations offers potential performance improvements but has a more complex control system to maintain stability, especially when facing external disturbances such as wind. This research focuses on the design of an altitude control system for multiquadcopters based SMC with Fuzzy Logic for auto-tuning the SMC gain. This system is specifically designed to counteract wind disturbances blowing from below. Simulation results show that the designed SMC-Fuzzy control system can maintain the altitude stability of the multiquadcopter with a very small RMSE, both in conditions without disturbances and when given step and sinusoidal disturbances. Tests were conducted on two mission profiles, and in both profiles, both the leader and follower quadcopters showed very low RMSE. In mission profile 1, the leader's RMSE values range from 0.0032 to 0.0128 m, while the follower's RMSE ranges from 0.0033 to 0.0051 m. Meanwhile, in mission profile 2, the leader's RMSE values are in the range of 0.0034 to 0.0049 m, and the follower's RMSE ranges from 0.0035 to 0.0038 m. These RMSE values indicate good control system performance in maintaining the desired altitude.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Fuzzy logic, Leader follower, Multiquadcopter, RMSE, Fuzzy logic, Leader follower, Multiquadcopter, RMSE.
Subjects:	T Technology > T Technology (General) > T11 Technical writing. Scientific Writing T Technology > T Technology (General) > T57.62 Simulation T Technology > T Technology (General) > T57.83 Dynamic programming
Divisions:	Faculty of Industrial Technology and Systems Engineering (INDSYS) > Physics Engineering > 30201-(S1) Undergraduate Thesis
Depositing User:	Grady Immanuel Sitorus
Date Deposited:	31 Jul 2024 06:11
Last Modified:	31 Jul 2024 06:11
URI:	http://repository.its.ac.id/id/eprint/109297

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