Perancangan Sistem Kendali Pada Hybrid Quadplane UAV Berbasis SMC ANFIS dengan Disturbansi Eksternal

Damayanti, Zulfana (2025) Perancangan Sistem Kendali Pada Hybrid Quadplane UAV Berbasis SMC ANFIS dengan Disturbansi Eksternal. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Hybrid Quadplane UAV merupakan kendaraan udara tanpa awak yang menggabungkan 2 mode utama untuk melakukan penerbangan, yaitu mode fixed wing dan quadcopter dalam satu platform. Pada pengoperasiannya, dibutuhkan sistem kontrol yang dapat mengatasi dinamika nonlinier dari sistem UAV yang kompleks. Pada penelitian ini digunakan integrasi sistem SMC-ANFIS dalam pengoperasian Hybrid Quadplane UAV untuk meningkatkan stabilitas dari sistem UAV dan mengatasi disturbansi eksternal. Pada eksperimen ini dilakukan pengujian pada variasi sistem SMC dan SMC-ANFIS untuk melihat masing-masing performansinya dalam mengatasi gangguan sistem. Pada masing-masing variasi ini, dilakukan pengujian dengan disturbansi dan tanpa disturbansi dengan parameter perfromansi pada sistem kontrol dan nilai RMSE. Berdasarkan hasil eksperimen, variasi SMC-ANFIS tanpa disturbansi memiliki RMSE sebesar 6,247 dengan settling time sebesar 15,47 s dan overshoot sebesar 2,94% lebih unggul jika dibandingkan dengan variasi SMC tanpa disturbansi yang memiliki RMSE sebesar 6,806 dengan settling time 15,98 s dan overshoot 3,5% dimana SMC-ANFIS memiliki error yang lebih rendah dan waktu yang singkat untuk mencapai kestabilan. Demikian pula dengan variasi SMC-ANFIS dengan disturbansi yang juga lebih unggul daripada variasi SMC dengan disturbansi yaitu dengan RMSE sebesar 33,128 dimana settling time yang didapat adalah 6,68 s dan overshoot sebesar 4,28%.
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Hybrid Quadplane UAV is unmanned aerial vehicle that combines 2 primary mode to perform flight, which is the fixed wing mode and the quadcopter mode in a platform. A control system is required to solve nonlinier dynamics from the complex UAV system so in this research, SMC-ANFIS integration is used to Hybrid Quadplane UAV operation to improve the stability of UAV system dan overcome the disturbance. Several testing were carried out on variation of SMC and SMC-ANFIS controller to see the performance of each controller variation to overcome the disturbance on the system. Each variation was tested with and without disturbance with control system performance parameters and RMSE values. Based on the experiments, SMC-ANFIS without disturbance has an rmse value of 6,247 with settling time of 15.47 s and overshoot of 2.94% which is better than SMC without disturbance that has an RMSE value of 6.806 with settling time 15.98 s and overshoot of 3.5% which is SMC-ANFIS has the lower error and shorter time to reach stability. Like wise, the same result of SMC-ANFIS without disturbance has a better perfromnace and smaller RMSE value of 33.128 s with settling time of 6.68 s and overshoot of 4.28%.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Adaptive Neuro-Fuzzy Inference System, Backward transition, Hybrid Quadplane UAV, Sliding mode control, Adaptive Neuro-Fuzzy Inference System, Backward transition, Hybrid Quadplane UAV, Sliding Mode Control
Subjects:	Q Science > Q Science (General) > Q180.55.M38 Mathematical models T Technology > TJ Mechanical engineering and machinery T Technology > TJ Mechanical engineering and machinery > TJ1058 Rotors T Technology > TJ Mechanical engineering and machinery > TJ211 Robotics. T Technology > TJ Mechanical engineering and machinery > TJ213 Automatic control. T Technology > TJ Mechanical engineering and machinery > TJ217 Adaptive control systems T Technology > TJ Mechanical engineering and machinery > TJ217.2 Robust control T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL152.8 Vehicles, Remotely piloted. Autonomous vehicles. T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL776 .N67 Quadrotor helicopters--Automatic control T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL521.3 Automatic Control
Divisions:	Faculty of Industrial Technology > Physics Engineering > 30201-(S1) Undergraduate Thesis
Depositing User:	Zulfana Damayanti
Date Deposited:	05 Aug 2025 05:55
Last Modified:	05 Aug 2025 05:55
URI:	http://repository.its.ac.id/id/eprint/127166

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