Perancangan Sistem Kendali Formasi untuk Transport Beban Terdistribusi pada Multi-Quadcopter Menggunakan SMC-ANFIS

Adani, Naufal Shalhan (2025) Perancangan Sistem Kendali Formasi untuk Transport Beban Terdistribusi pada Multi-Quadcopter Menggunakan SMC-ANFIS. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Salah satu aplikasi quadcopter adalah misi pengangkutan (transport) beban. Sebuah quadcopter memiliki keterbatasan dalam transport beban, sehingga untuk beban yang lebih berat diperlukan penggabungan beberapa quadcopter (multi-quadcopter). Banyak metode transport beban diantaranya adalah menggantungkan beban dengan kabel. Dalam sistem ini diperlukan sebuah formasi yang terkendali agar distribusi beban merata. Metode formasi yang umum digunakan meliputi leader-follower dan virtual structure. Sistem multi-quadcopter bergerak menuju lokasi berdasarkan trajectory. Penelitian ini mengusulkan Sliding Mode Control (SMC) yang dioptimalkan Adaptive Neuro Fuzzy Inference System (ANFIS) untuk mengurangi chattering dari gain K1 SMC dalam misi transport beban tergantung kabel pada multi-quadcopter. Model dan pengujian dilakukan berdasarkan simulasi MATLAB Simulink R2024b untuk mengevaluasi kinerja formasi dan kestabilan sistem melalui Root Mean Square Error (RMSE) lintasan. Hasil performansi uji formasi, dengan metode formasi virtual structure, seluruh quadcopter memiliki performansi yang sama (RMSE 0,0278), yaitu seluruh quadcopter bergerak dalam posisi yang sama. Sedangkan metode formasi leader follower, pada leader dan follower memiliki nilai performansi yang berbeda (leader RMSE 0,0278 dan follower RMSE 0,0326). Sehingga digunakan metode virtual structure, karena formasi yang dibentuk adalah rigid dan bergerak serentak, sehingga beban terdistribusi seimbang ke seluruh quadcopter. Pengujian lain meliputi 4 misi dengan tipe terbang yang lengkap. Berdasarkan simulasi, performa kendali SMC-ANFIS tahan(robust) terhadap ketidakstabilan set point pada arah z, terlihat pada uji ketidakstabilan, pada quadcopter 1 (RMSE 0,0392) dan quadcopter 2 dan 3 (RMSE 0,0232). Pada uji misi kompleks, kendali vertikal memiliki kestabilan lebih baik dibanding kendali horizontal, terlihat dari RMSE sumbu z<0,04m. Stabilitas ini disebabkan karena hubungan antara thrust dan gerak vertikal bersifat fully actuated, sehingga tuning lebih mudah dilakukan. Sebaliknya, kendali horizontal bergantung pada kendali rotasi, sehingga bersifat underactuated. ====================================================================================================================================
One of the quadcopter applications is the load transport mission. A quadcopter has limitations in carrying loads, so for heavier loads it is necessary to combine several quadcopters (multi-quadcopter). Many load transport methods include hanging the load with cables. In this system, a formation is needed to control the distribution of the load evenly. Common formation methods used include leader-follower and virtual structures. The multi-quadcopter system moves location based on the trajectory. This study proposes a Sliding Mode Control (SMC) optimized by Adaptive Neuro Fuzzy Inference System (ANFIS) to reduce chattering from the K1 gain of SMC in the cable-hung load transport mission on multi-quadcopters. Models and tests are carried out based on MATLAB Simulink R2024b simulations to transmit formation performance and system stability through the Root Mean Square Error (RMSE) trajectory. The results of the formation test performance, with the virtual structure formation method, all quadcopters have the same performance (RMSE 0.0278), that is, all quadcopters move in the same position. Meanwhile, the leader follower formation method, the leader and follower have different performance values (leader RMSE 0.0278 and follower RMSE 0.0326). So the virtual structure method is used, because the formed formation is rigid and moves simultaneously, so that the load is distributed evenly throughout the quadcopter. Other tests include 4 missions with complete flight types. Based on the simulation, the SMC-ANFIS control performance is robust to set point instability in the z direction, seen in the instability test, on quadcopter 1 (RMSE 0.0392) and quadcopter 2 and 3 (RMSE 0.0232). In the complex mission test, vertical control has better stability than horizontal control, seen from the z-axis RMSE <0.04m. This stability is due to the relationship between thrust and vertical motion being fully actuated, so adjustments are easier to do. In contrast, horizontal control relies on rotational control, so it is underactuated.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	ANFIS, formasi, multi-quadcopter, SMC, transport beban; ANFIS, formation, multi-quadcopter, SMC, load transport
Subjects:	Q Science > QA Mathematics > QA336 Artificial Intelligence T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK3070 Automatic control U Military Science > UG1242 Drone aircraft--Control systems. (unmanned vehicle) U Military Science > U Military Science (General) > UG Military Engineering > UG1242.D7 Unmanned aerial vehicles. Drone aircraft
Divisions:	Faculty of Industrial Technology and Systems Engineering (INDSYS) > Physics Engineering > 30201-(S1) Undergraduate Thesis
Depositing User:	Naufal Shalhan Adani
Date Deposited:	07 Aug 2025 02:24
Last Modified:	07 Aug 2025 02:24
URI:	http://repository.its.ac.id/id/eprint/127873

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