Perancangan Sistem Kendali Formasi Multi-Quadcopter Berbasis Leader-Follower Menggunakan Pengendali Sliding Mode Control

Roosgenia, Valerina (2024) Perancangan Sistem Kendali Formasi Multi-Quadcopter Berbasis Leader-Follower Menggunakan Pengendali Sliding Mode Control. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Unmanned Aerial Vehicles (UAV), atau pesawat tanpa awak yang dapat bergerak secara otonom, telah digunakan dalam berbagai bidang. Kemampuan UAV untuk dioperasikan dari jarak jauh atau secara otonom sesuai dengan rencana penerbangan yang telah diprogram menjadikannya sangat berguna dalam sektor-sektor seperti logistik, militer, pemetaan kebakaran hutan, pencarian dan penyelamatan, serta survei pertanian. Penggunaannya semakin diminati berkat kemampuannya bekerja dalam formasi. Akan tetapi, koordinasi formasi multi-UAV menghadirkan tantangan tersendiri, terutama dalam lingkungan yang dinamis. Penelitian ini berfokus pada pengembangan sistem kendali formasi berbasis leader-follower untuk multi-quadcopter menggunakan sliding mode control (SMC). Simulasi dilakukan dengan menggunakan tiga quadcopter dalam dua skema formasi, yaitu segitiga dan berderet. Pembentukan formasi menggunakan konsep leader-follower di mana pergerakan leader mengikuti trajectory ke titik target utama yang telah ditentukan. Rute panduan yang diberikan oleh leader kepada follower-nya berupa titik tujuan yang berubah secara dinamis berdasarkan posisi leader. Hasil simulasi menunjukkan bahwa leader memiliki overshoot rata-rata sekitar 4-5% dan RMSE sekitar 1-2 meter dalam menjalankan misi. Di sisi lain, follower pada variasi gain yang lebih tinggi, mengalami overshoot yang mencapai 18% dengan RMSE sekitar 8-10 meter. Penyebab utama overshoot yang tinggi pada follower adalah respon dinamis yang lebih lambat terhadap perubahan kontrol gain.
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Unmanned Aerial Vehicles (UAVs), or unmanned aircraft capable of autonomous movement, have been employed in various fields. The ability of UAVs to be operated remotely or autonomously according to pre-programmed flight plans makes them highly valuable in sectors such as logistics, military, wildfire mapping, search and rescue, and agricultural surveys. Their utility is further enhanced by their capability to operate in formation. However, coordinating multi-UAV formations presents significant challenges, especially in dynamic environments. This research focuses on developing a leader-follower-based formation control system for multi-quadcopter using sliding mode control (SMC). Simulations were conducted using three quadcopters in two formation schemes: triangular and linear. Formation is established using the leader-follower concept, where the leader follows a trajectory to a predetermined primary target. The guidance route provided by the leader to its followers consists of dynamically changing waypoints based on the leader’s position. Simulation results indicate that the leader has an average overshoot of around 4-5% and an RMSE of approximately 1-2 meters during the mission. On the other hand, followers, particularly with higher gain variations, experience overshoot reaching 18% with an RMSE of approximately 8-10 meters. The primary cause of the high overshoot in followers is the slower dynamic response to changes in control gain

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Formasi, Leader-Follower, Multi-UAV, Quadcopter, SMC, Formation
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 > Physics Engineering > 30201-(S1) Undergraduate Thesis
Depositing User:	Valerina Roosgenia
Date Deposited:	29 Jul 2024 04:19
Last Modified:	29 Jul 2024 04:19
URI:	http://repository.its.ac.id/id/eprint/109466

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