Perancangan Sistem Kendali Autonomous Hybrid Quadplane UAV Menggunakan SMC Dengan Gangguan Eksternal Angin

Ariowibowo, M Shaquille (2024) Perancangan Sistem Kendali Autonomous Hybrid Quadplane UAV Menggunakan SMC Dengan Gangguan Eksternal Angin. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Perkembangan dan adopsi kendaraan udara tak berawak (UAV) telah meningkat pesat berkat biaya pengembangan yang rendah, mobilitas udara yang tinggi, dan kemajuan teknologi. UAV digunakan secara luas dalam berbagai aplikasi sipil dan militer, seperti pengiriman paket, pemetaan udara, pertanian, pengawasan, dan operasi pencarian serta penyelamatan. Tugas akhir ini melakukan perancangan sistem kendali autonomous untuk hybrid quadplane UAV dengan metode Sliding Mode Control (SMC) untuk menghadapi gangguan eksternal, seperti angin. Metodologi penelitian melalui pemodelan UAV quadplane hibrida, pengujian sistem kendali open loop, pengujian sistem kendali dengan kontrol SMC, dan pengujian performansi waypoint dengan adanya gangguan eksternal angin. Pengujian dilakukan untuk menilai performansi UAV ketika adanya gangguan eksternal angin. Hasil pengujian menunjukkan bahwa SMC berhasil menjaga kestabilan dan kinerja UAV dengan baik, meskipun terdapat gangguan angin. Tanpa gangguan angin, sistem kendali SMC menunjukkan performansi stabil dengan error altitude RMSE sebesar 0,19. Dengan gangguan angin, error RMSE tercatat sebesar 0,2027 untuk variasi 1, 0,2790 untuk variasi 2, dan 0,4148 untuk variasi 3, menunjukkan bahwa SMC mampu meminimalisir dampak gangguan dan mempertahankan jalur penerbangan UAV sesuai yang diinginkan.
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The development and adoption of unmanned aerial vehicles (UAVs) has increased rapidly thanks to low development costs, high air mobility and technological advances. UAVs are widely used in a variety of civil and military applications, such as package delivery, aerial mapping, agriculture, surveillance, and search and rescue operations. This final project designs an autonomous control system for a hybrid quadplane UAV using the Sliding Mode Control (SMC) method to deal with external disturbances, such as wind. The research methodology involves hybrid quadplane UAV modeling, open loop control system testing, control system testing with SMC control, and waypoint performance testing in the presence of external wind disturbances. Tests were carried out to assess the performance of the UAV when there was external wind disturbance. The test results show that the SMC succeeded in maintaining the stability and performance of the UAV well, even though there was wind interference. Without wind interference, the SMC control system shows stable performance with an altitude error RMSE of 0.19. With wind disturbances, the RMSE error was recorded at 0.2027 for variation 1, 0.2790 for variation 2, and 0.4148 for variation 3, indicating that the SMC was able to minimize the impact of disturbances and maintain the UAV flight path as desired.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Sliding Mode Control, Gangguan Angin, Hybrid Quadplane, Sliding Mode Control, Wind Disturbance, Hybrid Quadplane
Subjects:	U Military Science > UG1242 Drone aircraft--Control systems. (unmanned vehicle)
Divisions:	Faculty of Industrial Technology > Physics Engineering > 30201-(S1) Undergraduate Thesis
Depositing User:	M Shaquille Ariowibowo
Date Deposited:	07 Aug 2024 06:19
Last Modified:	07 Aug 2024 06:19
URI:	http://repository.its.ac.id/id/eprint/109822

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