Perancangan Sistem Kendali Formasi pada Multi-Quadcopter untuk Transportasi Beban Menggunakan Fuzzy-Sliding Mode Control

Firdaus, Alfa Prayoga (2026) Perancangan Sistem Kendali Formasi pada Multi-Quadcopter untuk Transportasi Beban Menggunakan Fuzzy-Sliding Mode Control. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Unmanned aerial vehicle (UAV), atau dikenal sebagai drone merupakan pesawat yang bergerak secara autonomous atau tanpa adanya pilot manusia. Quadcopter sebagai salah satu jenis UAV yang memiliki keunggulan dalam fleksibilitas penerbangan telah dikembangkan sebagai kendaraan transportasi beban. Sebagai kendaraan transportasi beban, terdapat tantangan dalam desain sistem kontrol yaitu pengaruh beban dan gangguan eksternal. Sliding mode control (SMC) digunakan karena keunggulannya dalam akurasi, tahan terhadap gangguan, dan respons yang cepat. SMC yang diintegrasikan dengan sistem logika fuzzy digunakan untuk mereduksi chattering pada sinyal kontrol input yang dihasilkan. Simulasi dilakukan dengan tiga jenis pengendali yaitu menggunakan SMC, boundary-layer SMC (BSMC), dan fuzzy-SMC (FSMC), serta diuji pada lintasan persegi dan lingkaran. Hasil simulasi pada lintasan persegi menunjukkan bahwa ketiga jenis pengendali memiliki respons dinamik yang tidak jauh berbeda dengan nilai rise time 10 detik dan settling time 17 detik untuk setiap interval misi. Selain itu, nilai maximum overshoot dan steady state error yang dihasilkan sangat rendah yaitu dibawah 0,2% dan 0,1 meter. Pada kedua lintasan, nilai RMSE terkecil diperoleh dengan menggunakan pengendali SMC. Jika ditinjau dari sinyal kontrol input, dapat dilihat bahwa SMC menghasilkan chattering terutama pada input U2 dengan amplitudo rata-rata berturut-turut bernilai 0,02-0,03 N.m dan U3 dengan amplitudo rata-rata 0.016-0.036 N.m. Nilai amplitudo rata-rata U2 terendah diperoleh dengan menggunakan FSMC yaitu di bawah 0,002 N.m dan nilai amplitudo rata-rata U3 terendah diperoleh dengan menggunakan BSMC yaitu di bawah 0.0002 N.m.
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Unmanned aerial vehicle (UAV), known as drone, is aircraft that operate autonomously without a human pilot. Quadcopter, as one type of UAV, provides better flight flexibility and has been developed as load-transportation vehicles. However, when used for payload transportation, challenges arise in control system design because of payload variations and external disturbances. Sliding Mode Control (SMC) is used because of its advantages in accuracy, robustness against disturbances, and fast response. To reduce chattering in the generated control input signals, SMC is integrated with a fuzzy logic system. Simulations are conducted using three types of controllers: conventional SMC, boundary-layer SMC (BSMC), and fuzzy SMC (FSMC), and are evaluated on square and circular trajectories. The simulation results on the square trajectory indicate that all three controllers exhibit similar dynamic responses, with rise times is 10 seconds and settling times is 17 seconds for each mission interval. Furthermore, the resulting maximum overshoot and steady-state error are very low, remaining below 0.2% and 0.1 m, respectively. For both trajectories, the smallest root mean square error (RMSE) is achieved using the SMC controller. However, analysis of the control input signal shows that SMC produces chattering, particularly in input U2 with average amplitudes of 0.02–0.03 N.m and in input U3 with average amplitudes of 0.016–0.036 N.m. The lowest average amplitude value of U2 was obtained using FSMC, which was below 0.002 N.m, and the lowest average amplitude value of U3 was obtained using BSMC, which was below 0.0002 N.m.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Formasi, Fuzzy, Quadcopter, SMC, Transportasi Beban, Formation, Fuzzy, Payload Transportation, Quadcopter, SMC
Subjects:	Q Science > QA Mathematics > QA336 Artificial Intelligence T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL776 .N67 Quadrotor helicopters--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:	Alfa Prayoga Firdaus
Date Deposited:	04 Feb 2026 02:32
Last Modified:	04 Feb 2026 02:32
URI:	http://repository.its.ac.id/id/eprint/132081

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