“Perancangan Sistem Kendali Trajectory Path Following Line pada MultiQuacopter Berbasis Fuzzy Logic Control

Akbar, Aidil (2024) “Perancangan Sistem Kendali Trajectory Path Following Line pada MultiQuacopter Berbasis Fuzzy Logic Control. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Perkembangan Unmanned Aerial Vehicle (UAV) sangat banyak dikembangkan karena memiliki kemampuan take off dan landing secara vertikal, khususnya UAV jenis quadrotor yaitu quadcopter. Telah dikembangkan beberapa quadcopter bergerak secara bersama guna untuk menambah fungsi dan kegunaannya. UAV dapat bergerak secara autonomous dengan cara menentukan jalur lintasanya yang telah ditentukan terlebih dahulu atau path following line. Sehingga dalam penelitian ini akan dilakukan perancangan sistem kendali untuk quadcopter supaya dapat bergerak secara autonomous dengan menggunakan Fuzzy Logic Control (FLC) sebagai pengendali pada path following line dan algoritma formasi Sliding Mode Control (SMC) dengan pendekatan leader follower. Pada simulasi dilakukan pengujian kontrol yang telah dirancang dengan menggunakan 2 lintasan yang berbentuk segiempat dan segidelapan. Sedangkan quadcopter yang digunakan ialah 3 quadcopter yaitu 1 quadcopter leader dan 2 quadcopter follower sehingga formasi yang di bentuk berupa segitiga sama kaki. Dari pengujian quadcopter leader dapat mengikuti lintasan dan follower dapat mengikuti leader dari belakang pada kedua lintasan uji. Hasil performansi dari simulasi sistem kendali FLC menunjukan steady state error sebesar kurang dari 5%. Nilai rata-rata steady state error quadcopter leader dan follower 1 dan 2 pada lintasan segiempat yaitu 0,27 %, 0,63 %, dan 0,67 %. Nilai rata-rata steady state error quadcopter leader dan follower 1 dan 2 pada lintasan segidelapan yaitu 0,17 %, 0,13 %, dan 0,14 %. Sehingga dapat disimpulkan bahwasan FLC merupakan kontrol yang tepat untuk multiquadcopter dan algoritma SMC sebagai algoritma formasi dengan pendekata leader follower
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The development of Unmanned Aerial Vehicle (UAV) is widely developed because it has the ability to take off and land vertically, especially the quadrotor type UAV, namely quadcopter. Several quadcopters have been developed to move together in order to increase their functions and uses. UAVs can move autonomously by determining their predetermined path or path following line. So in this study, a control system design will be carried out for quadcopters so that they can move autonomously using Fuzzy Logic Control (FLC) as a controller on the path following line and the Sliding Mode Control (SMC) formation algorithm with a leader follower approach. In the simulation, a control test was carried out that had been designed using 2 quadrilateral and octagonal paths. While the quadcopters used were 3 quadcopters, namely 1 leader quadcopter and 2 follower quadcopters so that the formation formed was an isosceles triangle. From the test, the leader quadcopter can follow the path and the follower can follow the leader from behind on both test paths. The performance results of the FLC control system simulation showed a steady state error of less than 5%. The average steady state error values ​​of the leader and follower quadcopters 1 and 2 on the rectangular path are 0.27%, 0.63%, and 0.67%. The average steady state error values ​​of the leader and follower quadcopters 1 and 2 on the octagonal path are 0.17%, 0.13%, and 0.14%. So it can be concluded that FLC is the right control for multiquadcopter and the SMC algorithm as a formation algorithm with a leader follower approach

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Fuzzy logic control, Leader follower, Multiquadcopter, Path following line Fuzzy logic control, Leader follower, Multiquadcopter, Path following line
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:	Aidil Akbar
Date Deposited:	01 Aug 2024 03:26
Last Modified:	12 Sep 2024 06:16
URI:	http://repository.its.ac.id/id/eprint/109305

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