Kontrol Quadcopter dengan Beban Statis dan Gangguan Angin Dinamis Model Dryden Menggunakan Kontroler Fuzzy-LQR

Azka, Aida (2025) Kontrol Quadcopter dengan Beban Statis dan Gangguan Angin Dinamis Model Dryden Menggunakan Kontroler Fuzzy-LQR. Masters thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Quadcopter menawarkan keunggulan seperti kemampuan manuver, kemampuan melayang, dan desain mekanis sederhana. Namun, sifatnya yang lebih kecil dan ringan membuat quadcopter lebih rentan terhadap angin dibandingkan pesawat berawak. Angin yang berkontribusi terhadap kecelakaan udara terbagi dalam beberapa kategori, antara lain downburst, angin turbulen, pergeseran angin, dan pusaran angin. Gangguan dan ketidakpastian, seperti hembusan angin, dapat menimbulkan tantangan dalam menjaga keakuratan jalur penerbangan. Ketahanan quadcopter sangat penting, terutama ketika beroperasi di medan yang sulit dijangkau manusia, karena hal ini membuat sistem lebih rentan terhadap ketidakstabilan. Penelitian ini membahas kontrol quadcopter dengan beban statis berbentuk kubus untuk mempertahankan berada di jalur misinya menggunakan kontrol Fuzzy dan LQR (Linear Quadratic Regulator) output feedback. Kontroler Fuzzy digunakan untuk mengontrol posisi quadcopter. Sedangkan, kontroler LQR digunakan untuk mengontrol orientasi dari quadcopter. Selain itu, metode kontrol quadcopter menggunakan Command-Generator Tracker (CGT) dengan LQR output feedback dari penelitian sebelumnya juga akan diuji secara langsung jika terdapat angin turbulen saat terbang. Berdasarkan hasil simulasi menggunakan aplikasi Matlab, metode kontrol fuzzy dengan LQR secara signifikan meningkatkan kemampuan quadcopter dalam mempertahankan berada di jalur misinya saat adanya hembusan angin turbulen model Dryden hingga persentase kekuatan angin 70%. Nilai RMSE dalam persentase angin 70% berdasarkan sumbu x, y, z, dan lintasan 3D sebesar 0.1464, 0.0740, 0.0089, dan 0.0734, dibandingkan dengan kontrol LQR-CGT yang memiliki RMSE masing-masing dari sumbu x, y, z, dan lintasan 3D sebesar 0.1740, 0.1160, 0.0650, dan 0.0963.
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Quadcopters offer advantages such as maneuverability, hovering ability, and simple mechanical design. However, their smaller and lighter nature makes quadcopter more susceptible to wind than manned aircraft. Winds that contribute to air accidents fall into several categories, including downbursts, turbulent winds, wind shear, and eddies. Disturbances and uncertainties, such as wind gusts, can pose challenges in maintaining flight path accuracy. Quadcopter robustness is critical, especially when operating in terrain that is difficult for humans to reach, as this makes the system more susceptible to instability. This study discusses the control of a quadcopter with a cubic static load to maintain its mission path using Fuzzy control and LQR (Linear Quadratic Regulator) output feedback. The Fuzzy controller is used to control the position of the quadcopter. Meanwhile, the LQR controller is used to control the orientation of the quadcopter. In addition, the quadcopter control method using the Command-Generator Tracker (CGT) with LQR output feedback from previous studies will also be tested directly if there is turbulent wind during flight. Based on the simulation results using the Matlab application, the fuzzy control method with LQR significantly improves the quadcopter's ability to maintain its mission path when there are turbulent wind gusts of the Dryden model up to a wind strength percentage of 70%. The RMSE value in the wind percentage of 70% based on the x, y, z axes, and 3D trajectory is 0.1464, 0.0740, 0.0089, and 0.0734, compared to the LQR-CGT control which has RMSE from the x, y, z axes, and 3D trajectory of 0.1740, 0.1160, 0.0650, and 0.0963, respectively.

Item Type:	Thesis (Masters)
Uncontrolled Keywords:	Quadcopter, Static Load, Linear Quadratic Regulator output feedback, Fuzzy, Dryden Model Wind, Beban Statis, Angin Model Dryden.
Subjects:	T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL152.8 Vehicles, Remotely piloted. Autonomous vehicles.
Divisions:	Faculty of Intelligent Electrical and Informatics Technology (ELECTICS) > Electrical Engineering > 20101-(S2) Master Thesis
Depositing User:	Aida Azka
Date Deposited:	25 Jan 2025 02:45
Last Modified:	25 Jan 2025 02:45
URI:	http://repository.its.ac.id/id/eprint/116842

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