Sitohang, Daniel B. (2025) Perancangan Algoritma Kendali Forward Transition untuk Meningkatkan Kestabilan pada Hybrid Quadplane UAV Menggunakan Kontrol Fuzzy-PID. Other thesis, Institut Teknologi Sepuluh Nopember.
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Abstract
Hybrid Quadplane Unmanned Aerial Vehicle (UAV) merupakan salah satu teknologi penerbangan yang menggunakan sistem propulsi gabungan antara pendorong vertikal dan horizontal. Tipe Kestler MK II merupakan salah satunya dengan menggunakan front propeller sebagai penghasil gaya dorong horizontal. Jenis UAV ini unggul dalam pengaplikasian sistem autonomus karena dapat terbang vertikal (VTOL) dan horizontal untuk manuver cepat (Fixed-wing). Hybrid quadplane memiliki fase transisi dengan adanya dua mode terbang tersebut, dan pada penelitian ini akan berfokus pada fase transisi maju (forward transition), yaitu perubahan mode dari fase take off ke cruising untuk menjaga kestabilan saat proses switching antara horizontal thrust dan vertical thrust serta pengaruh aerodinamis pada airfoil. Penelitian ini menggunakan kontrol Fuzzy-PID dengan input berupa nilai error dan error rate dari actual state, sedangkan output-nya berupa gain PID dengan range yang diuji berdasarkan performansi terbaik. Berdasarkan hasil simulasi, diperoleh hasil performa terbaik kontroler fuzzy-PID dengan range gain output fuzzy sebesar 5 kali lipat dari gain awal. Pada pengendali posisi Z, respon terbaik dicapai dengan rise time 2.89 sekon, overshoot maksimum 22.57%, dan e_ss 0.0133 meter. Pada pengendali posisi X, respon terbaik dicapai dengan rise time 17.88 sekon. Sedangkan pada pengendali pitch, diperoleh respon terbaik dengan rise time 3.05 sekon, overshoot maksimum 23.87%, tanpa adanya error steady state selama pengujian trajectory.
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The Hybrid Quadplane Unmanned Aerial Vehicle (UAV) is one of the aviation technologies that uses a combined propulsion system between vertical and horizontal propulsion. The Kestler MK II type is one of them, using a front propeller as the horizontal thrust generator. This type of UAV excels in the application of autonomous systems because it can fly vertically (VTOL) and horizontally for fast manoeuvres (Fixed-wing). The Hybrid quadplane has a transition phase due to these two flight modes, and this study will focus on the forward transition phase, which involves changing modes from takeoff to cruising to maintain stability during the switching process between horizontal thrust and vertical thrust, as well as the aerodynamic effects on the airfoil. This study uses Fuzzy-PID control with input values of error and error rate from the actual state, while the output is PID gain with a range tested based on optimal performance. Based on simulation results, the best performance of the Fuzzy-PID controller was achieved with a fuzzy output gain range five times the initial gain. In the Z position controller, the best response was achieved with a rise time of 2.89 seconds, a maximum overshoot of 22.57%, and steady-state error of 0.0133 metres. In the X position controller, the best response was achieved with a rise time of 17.88 seconds. In the pitch controller, the best response was achieved with a rise time of 3.05 seconds, a maximum overshoot of 23.87%, and no steady-state error during trajectory testing.
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