“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 pendekatan
leader follower.

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The development of Unmanned Aerial Vehicle (UAV) is very much developed because
it has the ability to take off and land vertically, especially the quadrotor type UAV, the
quadcopter. Several quadcopters have been developed to move together in order to increase
their function and usefulness. UAVs can move autonomously by determining a predetermined
path or path following line. So in this research, a control system design will be carried out for
the quadcopter so that it can move autonomously using Fuzzy Logic Control (FLC) as a
controller on the path following line and Sliding Mode Control (SMC) formation algorithm
with a leader follower approach. In the simulation, the control that has been designed is tested
using two trajectories in the form of a square and an eighth. While the quadcopter used is 3
quadcopters, namely 1 quadcopter leader and 2 quadcopter followers so that the formation in
the form of an isosceles triangle. From the test the quadcopter leader can follow the trajectory
and the follower can follow the leader from behind on both test trajectories. The performance
results of the FLC control system simulation show a steady state error of less than 5%. The
average value of steady state error of quadcopter leader and follower 1 and 2 on the quadrilateral
trajectory is 0.27%, 0.63%, and 0.67%. The average value of steady state error of quadcopter
leader and follower 1 and 2 on the eighth trajectory is 0.17%, 0.13%, and 0.14%. So it can be
concluded that FLC is an appropriate control for multiquadcopter and SMC algorithm as a
formation algorithm with 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:	01 Aug 2024 03:26
URI:	http://repository.its.ac.id/id/eprint/109305

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