Perancangan Sistem Kendali Backward Transition Pada Hybrid Quadplane UAV Berbasis Fuzzy Logic-Sliding Mode Control

Al-Amin, Abdul Hakim (2024) Perancangan Sistem Kendali Backward Transition Pada Hybrid Quadplane UAV Berbasis Fuzzy Logic-Sliding Mode Control. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Unmanned Aerial Vehicle (UAV) secara umum adalah robot terbang yang dikendalikan dari jarak jauh atau tidak dikendarai oleh siapapun dan dapat mengendalikan dirinya sendiri. (UAVs) dibagi menjadi dua berdasarkan bentuk sayap yaitu sayap tetap dan multi-propeller. Seiring perkembangan jaman, dikembangkan UAV tipe hybrid yang menggabungkan kedua tipe tersebut yaitu hybrid quadplane UAV. Pada hybrid quadplane UAV terdapat 3 mode penerbangan yaitu mode quadcopter, transisi, dan fixed wing. Mode penerbangan transisi merupakan perubahan mode quadcopter menjadi fixed wing atau sebaliknya. Dalam proses ini kecepatan transisi perlu dipertimbangkan. Oleh karena itu dalam hybrid quadplane UAV mode transisi adalah yang paling sulit diantara mode lainnya sehingga membutuhkan sistem kendali yang dapat melakukan transisi. Sistem Kendali transisi pada penelitian ini menggunakan sistem fuzzy logic-sliding mode control. Sistem pengendalian transisi pada hybrid quadplane UAV dengan menggunakan fuzzy logic-sliding mode control dirancang dengan menggunakan kontrol SMC untuk mengendalikan setiap aktuator pada hybrid quadplane UAV, dan pengujian membership function dari fuzzy logic controller untuk mengendalikan nilai tuning bagi gain pada pitch VTOL guna menghasilkan waypoint yang lebih mendekati setpoint yang ditetapkan. Jenis fuzzy sets yang digunakan untuk mengendalikan nilai tuning bagi gain pada pitch VTOL berupa bentuk triangular dan trapezoidal. Sliding mode control digunakan untuk mengendalikan attitude dan vertical throttle pada mode quadcopter, serta back throttle, elevator, rudder, dan aileron pada mode fixed wing. Pada pengujian simulasi dengan kontroler SMC, UAV dapat terbang mengikuti waypoint dan melakukan transisi, dengan nilai Root Mean Squared Error (RMSE) dan Mean Squared Error (MSE) di sumbu Z yang telah stabil secara urut bernilai 0.1736 dan 0.0302 serta posisi di sumbu x setelah proses landing selesai berada di meter ke-2473.82. Kemudian setelah ditambahkan tuning bagi gain pada pitch VTOL, diperoleh nilai Root Mean Squared Error (RMSE) dan Mean Squared Error (MSE) di sumbu Z yang telah stabil secara urut bernilai 0.1711 dan 0.0293 serta posisi di sumbu x setelah proses landing selesai berada di meter ke-2470, dimana nilai error yang diperoleh makin kecil dan posisi di sumbu x ketika proses landing telah selesai lebih mendekati setpoint yang telah ditetapkan.
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Unmanned Aerial Vehicle (UAV) in general is a flying robot that is controlled remotely or not driven by anyone and can control itself. (UAVs) are divided into two based on wing shape, namely fixed wing and multi-propeller. As time goes by, a hybrid type UAV has been developed which combines the two types, namely the hybrid quadplane UAV. In the hybrid quadplane UAV there are 3 flight modes, namely quadcopter, transition and fixed wing modes. Transition flight mode is a change from quadcopter mode to fixed wing or vice versa. In this process the speed of transition needs to be considered. Therefore, in a hybrid quadplane UAV, the transition mode is the most difficult among the other modes, so it requires a control system that can make the transition. The transition control system in this research uses a fuzzy logic-sliding mode control system. The transition control system on the hybrid quadplane UAV using fuzzy logic-sliding mode control is designed using SMC control to control each actuator on the hybrid quadplane UAV, and testing the membership function of the fuzzy logic controller to control the tuning value for the gain on the VTOL pitch to produce a suitable waypoint. closer to the set point. The types of fuzzy sets used to control the tuning value for gain on VTOL pitch are in the form of triangular and trapezoidal. Sliding mode control is used to control attitude and vertical throttle in quadcopter mode, as well as back throttle, elevator, rudder and aileron in fixed wing mode. In simulation testing with the SMC controller, the UAV can fly following the waypoint and make transitions, with the Root Mean Squared Error (RMSE) and Mean Squared Error (MSE) values on the Z axis which have been stabilized respectively at 0.1736 and 0.0302 and the position on the x axis after the landing process was completed at 2473.82 meter. Then, after adding tuning for the gain in the VTOL pitch, the values obtained for the Root Mean Squared Error (RMSE) and Mean Squared Error (MSE) on the Z axis are respectively stable at 0.1711 and 0.0293 and the position on the x axis after the landing process is complete is in 2470 meter, where the error value obtained is smaller and the position on the x axis when the landing process has been completed is closer to the set point that has been set.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Fuzzy Logic, Sliding Mode Control, Transisi, Fuzzy Logic, Sliding Mode Control, Transition.
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:	Abdul Hakim Al-Amin
Date Deposited:	01 Aug 2024 03:41
Last Modified:	01 Aug 2024 03:41
URI:	http://repository.its.ac.id/id/eprint/109300

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