Perancangan Sistem Kendali Bird Take-Off Trajectory Pada Hybrid Quadplane Uav Menggunakan Smc (Sliding Mode Control)

Putra, M Brillian Rajasyah Madha (2024) Perancangan Sistem Kendali Bird Take-Off Trajectory Pada Hybrid Quadplane Uav Menggunakan Smc (Sliding Mode Control). Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Penelitian ini membahas pengembangan teknologi UAV tipe Quadplane dengan fokus pada penggunaan Sliding Mode Kontroller (SMC) selama fase lepas landas dan perancangan sistem kendali Bird Take-off. Penelitian ini difokuskan pada kendali Bird Take Off dimana mengatur proporsi kecepatan pada keempat quadrotor dan juga propeller pendorong sehingga perlu membuat simulasi sistem kendali untuk quadrotor dan juga Fixed Wing yang kemudian keduanya digabungkan menjadi satu. Metode Bird Take Off terbukti lebih hemat energi dan mampu terbang jarak lebih jauh dibandingkan dengan metode lepas landas vertikal. Penelitian ini juga mencakup analisis kinematika dan dinamika UAV Quadplane pada mode VTOl dan juga Fixed Wing serta respon dari Sliding Mode Kontrol . Didapatkan hasil bahwa Sliding Mode Kontrol mampu mencapai titik koordinat yang telah ditentukan meskipun terdapat efek chattering karena sistem kontrol SMC merupakan sistem kontrol berbasis switching berfrekuensi tinggi. Dimana nilai Mean Square Error sebesar 0.166 dan nilai RMSE sebesar 0.4047 dengan nilai max Overshoot pada sumbu X sebesar 0.7913 dan sumbu Z sebesar 0.273.
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This research discusses the development of Quadplane type UAV technology with a focus on the use of Sliding Mode Kontroller (SMC) during the take-off phase and the design of the Bird Take-off kontrol sistem. This research is focused on Bird Take-off kontrol which regulates the proportion of speed on the four quadrotors and also the propeller so that it is necessary to simulate the kontrol sistem for the quadrotor and also the Fixed Wing which is then both combined into one. The Bird Take Off method is proven to be more energy efficient and able to fly longer distances compared to the vertikal take-off method. This research also includes an analysis of the kinematics and dynamics of the Quadplane UAV in VTOl mode and also Fixed Wing and the response of Sliding Mode Kontrol. It was found that the Sliding Mode Kontrol is able to reach the predetermined coordinates despite the chattering effect because the SMC kontrol sistem is a high-frequency switching-based kontrol sistem. Where the Mean Square Error value is 0.166 and the RMSE value is 0.4047 with a max Overshoot value in the X axis of 0.7913 and the Z axis of 0.273.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Bird Take Off, Quadplane, Sliding Mode Kontrol, UAV, Unmanned Aerial Vehicle
Subjects:	T Technology > T Technology (General) > T57.62 Simulation T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK2681.B47 Electric motors, Direct current. T Technology > TL Motor vehicles. Aeronautics. Astronautics T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL152.8 Vehicles, Remotely piloted. Autonomous vehicles. T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL696.C6 Airplanes--Collision avoidance T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL776 .N67 Quadrotor helicopters--Automatic control T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL777 Details and parts of models (Including propellers)
Divisions:	Faculty of Industrial Technology and Systems Engineering (INDSYS) > Physics Engineering > 30201-(S1) Undergraduate Thesis
Depositing User:	M Brillian Rajasyah Madha Putra
Date Deposited:	29 Jul 2024 05:43
Last Modified:	29 Jul 2024 05:43
URI:	http://repository.its.ac.id/id/eprint/109334

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