Trajectory Tracking Menggunakan Fuzzy-PD dan Sliding Mode Control Pada Quadcopter

Asshiddiqie, Aji Reza Asshiddiqie (2025) Trajectory Tracking Menggunakan Fuzzy-PD dan Sliding Mode Control Pada Quadcopter. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Dalam beberapa dekade terakhir, penggunaan quadcopter sebagai kendaraan udara tanpa awak yang menggunakan prinsip aerodinamika untuk menghasilkan daya angkat dan dapat bergerak secara otonom atau diawasi dari jarak jauh menggunakan remote control dari luar kendaraan atau berdasarkan dengan controller yang sudah ditanamkan pada sistem quadcopter. Pada penelitian ini, masalah utama yang dibahas adalah pengembangan algoritma sistem pelacakan lintasan yang lebih baik dalam melakukan pengawasan pada ruang tiga dimensi yang akan menggunakan Quadcopter berdasarkan karakteristik metode Fuzzy-PD dan juga Sliding Mode Control. Metode yang diajukan dapat menghasilkan performa yang baik walaupun dalam keadaan noise yang tinggi didapatkan Nilai MSE dan RMSE Fuzzy-PD & SMC 0.166489 dan 0.408031, sementara PD mencapai 0.193310 dan 0.439670
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In recent decades, the use of quadcopter as an unmanned aerial vehicle that uses aerodynamic principles to generate lift and can move autonomously or be supervised remotely using remote control from outside the vehicle or based on the controller that is already embedded in the quadcopter system. In this research, the main problem discussed is the development of a better trajectory tracking system algorithm in conducting surveillance in three-dimensional space that will use a Quadcopter based on the characteristics of the Fuzzy- PD method and also Sliding Mode Control. The proposed method can produce good performance even in high noise conditions. The MSE and RMSE values of Fuzzy-PD & SMC are 0.166489 and 0.408031, while PD reaches 0.193310 and 0.439670.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Quadcopter, Trajectory Tracking, Fuzzy-PD dan Sliding Mode Control, Noise; Quadcopter, Trajectory Tracking, Fuzzy-PD and Sliding Mode Control, Noise
Subjects:	U Military Science > U Military Science (General) > UG Military Engineering > UG1242.D7 Unmanned aerial vehicles. Drone aircraft
Divisions:	Faculty of Intelligent Electrical and Informatics Technology (ELECTICS) > Electrical Engineering > 20201-(S1) Undergraduate Thesis
Depositing User:	Aji Reza Asshiddiqie
Date Deposited:	21 Jul 2025 07:50
Last Modified:	21 Jul 2025 07:50
URI:	http://repository.its.ac.id/id/eprint/120338

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