Desain Kontrol Gerak Quadcopter Menggunakan Output Feedback Control Pole Placement

Prihatini, Dita (2022) Desain Kontrol Gerak Quadcopter Menggunakan Output Feedback Control Pole Placement. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Quadcopter termasuk dalam jenis Unmanned Aerial Vehicle (UAV) atau pesawat tanpa awak dengan empat buah rotor dalam formasi bujur sangkar yang dapat dikendalikan secara jarak jauh, sehingga dibutuhkan sistem kontrol. Model matematika Quadcopter yang digunakan bersifat linier dan Quadcopter dapat bergerak secara rotasi maupun translasi. Pada penelitian ini dilakukan analisis sistem dan desain kontrol menggunakan metode Output Feedback Control Pole Placement untuk mengendalikan sudut roll dan sudut pitch yang bertujuan agar dapat memperbaiki performansi dari sistem Quadcopter. Hasil analisis sistem dinamik pada Quadcopter bersifat stabil, terkontrol, dan teramati. Desain kontrol dilakukan dengan empat skenario feedback gain (K1,K2,K3, K4) untuk memindahkan nilai eigen agar dapat stabil. Berdasarkan analisis waktu stabil dan overshoot, skenario terbaik pada sudut roll adalah skenario keempat (K4) yaitu mencapai stabil pada waktu 0,6262 detik dengan nilai overshoot 0,008 rad dan skenario terbaik pada sudut pitch adalah skenario keempat (K4) yaitu mencapai stabil pada waktu 0,4638 detik dan nilai overshoot 0,01 rad.
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A Quadcopter is an Unmanned Aerial Vehicle (UAV) or unmanned aircraft with four rotors in a square formation that may be operated remotely, which necessitates the use of a control system. The Quadcopter mathematical model used is linier and the Quadcopter can move both rotationally and translationally. In this research, system analysis and control design were carried out using the Output Feedback Control Pole Placement method to control the roll angle and pitch angle, with the goal of maintaining stability by increasing the performance of the Quadcopter system. The Quadcopter dynamic system analysis results are stable, controllable, and observable. The control design is carried out using four feedback gain scenarios (K1,K2,K3 and K4) to adjust the eigenvalues so that they are stable based on the analysis of stable time and overshoot, the fourth scenario (K4) at the roll angle is stable at 0.6262 second with an overshoot value of 0.008 rad, while the fourth scenario (K4) at the pitch angle is stable at 0.4638 second with an overshoot value of 0.01 rad.

Item Type:	Thesis (Other)
Additional Information:	RSMa 515.642 Pri d-1 2022
Uncontrolled Keywords:	Unmanned Aerial Vehicle (UAV). Quadcopter. Output Feedback Control Pole Placement. Unmanned Aerial Vehicle (UAV). Quadcopter. Output Feedback Control Pole Placement.
Subjects:	Q Science > QA Mathematics
Divisions:	Faculty of Mathematics and Science > Mathematics > 44201-(S1) Undergraduate Thesis
Depositing User:	Mr. Marsudiyana -
Date Deposited:	08 Jun 2026 06:32
Last Modified:	08 Jun 2026 06:32
URI:	http://repository.its.ac.id/id/eprint/133633

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