Kontrol Tracking Untuk Quadrotor Menggunakan Metode Optimal Output Feedback Dengan Command-Generator Tracker

Isdaryani, Feni (2016) Kontrol Tracking Untuk Quadrotor Menggunakan Metode Optimal Output Feedback Dengan Command-Generator Tracker. Masters thesis, Institut Teknologi Sepuluh Nopember.

Text 2214202006-Master Thesis.pdf - Accepted Version Download (1MB)

Abstract

Quadrotor UAV merupakan sistem yang nonlinier, underactuated dan tidak stabil. Karakteristik tersebut menjadi fokus perhatian untuk perkembangan penelitian kontrol quadrotor. Dalam tesis ini metode kontrol optimal output feedback digunakan untuk kontrol attitude dan posisi quadrotor. Kontrol optimal output feedback yang memiliki performa H∞ digunakan untuk menjaga kestabilan dan kekokohan quadrotor. Gain kontroler diperoleh menggunakan teknik numerik iterative Linear Matrix Inequality (LMI). Untuk kontrol tracking posisi pada sumbu X dan Y, digunakan struktur Command-Generator Tracker (CGT). Permasalahan kontrol tracking tersebut diselesaikan menggunakan metode LQ regulator dengan output feedback. Simulasi menunjukkan bahwa sistem kontrol dapat men-track sinyal referensi yang diberikan. Selain itu, sistem kontrol juga mampu mengatasi gangguan eksternal berupa wind gust dengan penyimpangan posisi maksimum mencapai 0.28 m.
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Quadrotor UAV is a nonlinear, underactuated and unstable systems. These systems characteristic, will be the main concern of the quadrotor control development. In this thesis, optimal output feedback control is used for quadrotor attitude and position control. The optimal output feedback control with H∞ performance is used to maintain stability and robustness of the quadrotor. Gain controller is obtained using iterative numerical techniques, Linear Matrix Inequality (LMI). Command-Generator Tracker (CGT) structure is used for position tracking control along X-axis and Y-axis. The position tracking control problem is solved using the LQ regulator method with output feedback. Simulation shows that the control systems is able to track the reference signal. In addition, the control system has a robust performance in the presence of wind gust disturbance which quantified by with maximum deviation about 0.28 m.

Item Type:	Thesis (Masters)
Additional Information:	RTE 629.892 Isd k
Uncontrolled Keywords:	Quadrotor UAV, performa H∞, Linear Matrix Inequality, Command- Generator Tracker, LQ regulator.
Subjects:	T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions:	Faculty of Intelligent Electrical and Informatics Technology (ELECTICS) > Electrical Engineering > 20101-(S2) Master Thesis
Depositing User:	Mr. Tondo Indra Nyata
Date Deposited:	14 Nov 2024 07:00
Last Modified:	14 Nov 2024 07:00
URI:	http://repository.its.ac.id/id/eprint/115792

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