Perancangan Sistem Kendali Altitude Menggunakan SMC-ANFIS untuk Kestabilan pada Multiquadcopter

Ain, Citra Annisaa Nurul (2024) Perancangan Sistem Kendali Altitude Menggunakan SMC-ANFIS untuk Kestabilan pada Multiquadcopter. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Quadcopter merupakan salah satu jenis Unmanned Aerial Vehicle (UAV) yang memiliki banyak keunggulan karena ukurannya yang kecil sehingga mudah untuk melakukan manuver, take-off, dan landing. Dalam aplikasinya, UAV quadcopter seringkali digunakan untuk pegawasan wilayah, misi pencarian dan penyelamatan, survei lokasi, serta penentuan untuk menentukan lokasi tertentu. Sehingga, dalam pengembangannya quadcopter banyak digunakan untuk topik penelitian seperti multiquadcopter. Quadcopter membentuk formasi dengan algoritma tertentu melalui pendekatan leader-follower. Dalam penelitian ini quadcopter dikendalikan secara autonomous untuk mencapai suatu misi tertentu dan dilihat perfomansi dari sistem kendali yang telah dibuat. Digunakan sistem kendali algoritma SMC untuk mengatur formasi multiquadcopter dan kontrol SMC-ANFIS untuk sistem kendali ketinggian pada quadcopter. Dengan adanya sistem kendali tersebut diharapakan multiquadcopter dapat terbang pada ketinggian tertentu dan bertahan pada sumbu z untuk waktu tertentu. Didapatkan hasil tunning nilai k_1z pada variasi ketinggian 0,341 untuk leader dan 0,251 untuk followers. Kemudian untuk persamaan sinusoidal didapatkan nilai gain 0,309 untuk leader dan 0,606 untuk followers. Terakhir, untuk lintasan ketinggian adalah 0,316 untuk leader dan 0,334 untuk followers. Dengan demikian, dapat dilihat bahwa multi-quadcopter dapat bergerak naik dan turun sesuai setpoint yang diberikan. Berdasarkan lintasan dengan beberapa variasi ketinggian dan persamaan sinusoidal RMSE terbesar didapatkan antara leader dengan posisi yang ditentukan yaitu sebesar 2,4121.
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Quadcopters are a type of Unmanned Aerial Vehicle (UAV) that have many advantages due to their small size, making them easy to maneuver, take off, and land. UAV quadcopters are often used for area surveillance, search and rescue missions, site surveys, and specific location determination. Therefore, in their development, quadcopters are widely used for research topics such as multi-quadcopter systems. Quadcopters can form formations using specific algorithms through a leader-follower approach. In this research, quadcopters are controlled autonomously to achieve specific missions, and the performance of the created control system is evaluated. The SMC algorithm is used for controlling the multi-quadcopter formation, while the SMC-ANFIS control system is used for altitude control of the quadcopters. With these control systems, it is expected that the multi-quadcopter can fly at a certain altitude and maintain its position on the z-axis for a certain time. The tuning results for the gain values at various altitudes were found to be 0,341 for the leader and 0,251 for the followers. For the sinusoidal equation, the gain values were 0,309 for the leader and 0,606 for the followers. Finally, for the altitude trajectory, the gain values were 0,316 for the leader and 0,334 for the followers. Thus, it can be seen that the multi-quadcopter can move up and down according to the given setpoint. Based on the trajectories with several altitude variations and sinusoidal equations, the largest RMSE was obtained between the leader and the specified position, which is 2,4121.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Altitude, ANFIS, SMC, Quadcopter, Altitude, ANFIS, SMC, Quadcopter
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:	Citra Annisaa Nurul Ain
Date Deposited:	01 Aug 2024 07:59
Last Modified:	01 Aug 2024 07:59
URI:	http://repository.its.ac.id/id/eprint/109439

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