Desain Kendali Fuzzy Optimal Control Untuk Trajectory Tracking Pada 8-Copter

Maulina, Dinda Anisa' (2024) Desain Kendali Fuzzy Optimal Control Untuk Trajectory Tracking Pada 8-Copter. Masters thesis, Institut Teknologi Sepuluh Nopember.

Text 6002221019-Mater_Thesis.pdf - Accepted Version Restricted to Repository staff only Download (4MB) | Request a copy

Abstract

UAV atau Unmanned Aerial Vehicle adalah sebuah pesawat tanpa awak yang dapat bergerak dengan kendali jarak jauh. Multi rotor merupakan salah satu tipe UAV yang banyak digunakan. Hal ini dikarenakan biaya pembuatan yang murah dan kemampuan manuver yang tinggi. Dalam Tesis ini, plant yang digunakan adalah Octocopter atau 8-copter. 8-copter merupakan pesawat tanpa awak jenis multi rotor yang memiliki 8 propeller dan rotor. Kemampuan manuver yang kuat membuat 8-copter mampu menghadapi gangguan eksternal. Permasalahan pada plant ini terletak pada pelacakan lintasan atau trajectory tracking sistem yang tidak mengikuti lintasan. Oleh karena itu, perancangan sistem kendali untuk mengatasi permasalahan tersebut perlu dilakukan. Sistem kendali yang digunakan dalam Tesis ini yaitu Fuzzy Optimal Control (FOC). Metode ini merupakan penggabungan metode Fuzzy Logic Controller dan metode kendali optimal yaitu Linear Quadratic Tracking. Tesis ini bertujuan untuk mengendalikan sistem sehingga 8-copter mampu mengikuti lintasan yang diinginkan dengan error yang minimal. Berdasarkan hasil simulasi, metode FOC yang dirancang dapat mengendalikan 8-Copter mengikuti lintasan referensi yang diberikan dengan rata-rata time lagging sebesar 1,7657 detik.

========================================================================================================================

An unmanned Aerial Vehicle (UAV) is an unmanned aircraft that can move with remote control. A multi-rotor is a type of UAV that is widely used. This is due to low manufacturing costs and high maneuverability. In this research, the plant used is an Octocopter or 8-Copter. An 8-Copter is an multi-rotor type unmanned aircraft that has 8 propellers and rotors. Strong maneuverability makes the 8-copter capable of dealing with external interference. The problem with this plant lies in the trajectory tracking system that it not follows the desired trajectory. Therefore, designing a control system to overcome these problems needs to be done. The control system that will be used in this research is Fuzzy Optimal Control. This method is a combination of the Fuzzy Logic Controller method and the optimal control method, namely Linear Quadratic Tracking. According to this research, it should be possible for the 8-Copter to follow the intended path by combining the two approaches in a way that addresses the trajectory tracking issue more effectively. This thesis aims to control the system so that the 8-copter is able to follow the desired trajectory with minimal error. Based on the simulation results, the designed FOC method can control the 8-Copter following the given reference trajectory with an average time lagging of 1.7657 seconds.

Item Type:	Thesis (Masters)
Uncontrolled Keywords:	8-Copter, Fuzzy Optimal Control, Linear Quadratic Tracking, Trajectory Tracking, 8-Copter, Fuzzy Optimal Control, Linear Quadratic Tracking, Pelacakan Lintasan.
Subjects:	Q Science > QA Mathematics > QA39.3 Fuzzy mathematics Q Science > QA Mathematics > QA401 Mathematical models. Q Science > QA Mathematics > QA402 System analysis. Q Science > QA Mathematics > QA9.64 Fuzzy logic
Divisions:	Faculty of Science and Data Analytics (SCIENTICS) > Mathematics > 44101-(S2) Master Thesis
Depositing User:	Dinda Anisa' Maulina
Date Deposited:	08 Aug 2024 03:54
Last Modified:	08 Aug 2024 03:54
URI:	http://repository.its.ac.id/id/eprint/113610

Actions (login required)

View Item