Navigasi Quadcopter Menggunakan Interfered Fluid Dynamical System dan Sliding Mode Control Modifikasi di Lingkungan Berangin

Habibi, Ahmad Rizki (2026) Navigasi Quadcopter Menggunakan Interfered Fluid Dynamical System dan Sliding Mode Control Modifikasi di Lingkungan Berangin. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Quadcopter merupakan salah satu jenis unmanned aerial vehicle (UAV) yang banyak digunakan karena kemampuan hover, vertical take-off and landing, dan manuver yang lincah. Namun, quadcopter memiliki tantangan berupa dinamika nonlinier, sifat underactuated, dan sensitivitas terhadap gangguan eksternal, terutama angin. Oleh karena itu, sistem navigasinya perlu dirancang agar mampu menghasilkan lintasan, membentuk referensi yang halus, melacak lintasan, serta menjaga keselamatan terhadap rintangan pada lingkungan berangin. Penelitian ini mengusulkan sistem navigasi quadcopter dengan integrasi interfered fluid dynamical system (IFDS) untuk membentuk jalur global terhadap rintangan statis, B-spline untuk menghasilkan referensi lintasan yang lebih halus, sliding mode control (SMC) sebagai pengendali pelacakan, dan control barrier function (CBF) sebagai filter keselamatan terhadap rintangan dinamis. Pengujian dilakukan melalui simulasi MATLAB pada skenario satu dan empat bangunan dengan rintangan dinamis, steady wind, serta gangguan angin Dryden. Hasil pengujian menunjukkan bahwa IFDS mampu menghasilkan jalur global tanpa tabrakan dengan minimum clearance sebesar 2,704 m dan 3,326 m untuk skenario satu dan empat bangunan. Parameter SMC final menghasilkan mean cross-track error (CTE) sebesar 0,0025 m, RMSE CTE sebesar 0,0086 m, dan RMSE posisi sebesar 0,0128 m pada skenario satu bangunan tanpa angin dan rintangan dinamis. Sistem juga berhasil mencapai tujuan tanpa collision pada seluruh variasi pengujian steady wind 3 m/s. Pada pengujian single run Dryden, seluruh variasi intensitas menghasilkan status finish, sedangkan pada pengujian multi run diperoleh rasio finish/collision sebesar 10/0 pada intensitas Dryden 1,0 dan 9/1 pada intensitas Dryden 2,0 untuk kedua skenario. Dibandingkan metode pembanding yang menggunakan IFDS, VFG, PID, dan AVO, metode yang diusulkan mampu menurunkan mean CTE rata-rata sebesar 52,17% dan RMSE CTE rata-rata sebesar 27,46% pada seluruh kondisi perbandingan. Hasil ini menunjukkan bahwa integrasi metode usulan mampu meningkatkan kualitas pelacakan dan keberhasilan misi quadcopter pada lingkungan dengan rintangan dan gangguan angin.
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A quadcopter is a type of Unmanned Aerial Vehicle (UAV) that is widely used due to its hovering capability, vertical take-off and landing, and agile maneuverability. However, quadcopter has several challenges, including nonlinear dynamics, underactuated characteristics, and sensitivity to external disturbances. Therefore, quadcopter navigation system must be designed to generate a path and smooth reference trajectory, track the trajectory, and maintain safety against obstacles in windy environment. This research proposes a quadcopter navigation system by integrating the Interfered Fluid Dynamical System (IFDS) to generate global path, B-spline to form smoother reference trajectory, Sliding Mode Control (SMC) as the tracking controller, and Control Barrier Function (CBF) as a safety filter against dynamic obstacles. The system is tested through MATLAB simulations in one-building and four-building scenarios with dynamic obstacles, steady wind, and Dryden wind. The results shows, IFDS can generate collision-free global paths with minimum clearances of 2.704 m and 3.326 m for the one-building and four-building scenario. The final SMC parameter set produces Mean Cross-Track Error (CTE) of 0.0025 m, RMSE CTE of 0.0086 m, and position RMSE of 0.0128 m in the one-building scenario without wind and dynamic obstacles. In the 3 m/s steady wind test, the system reaches the goal without collision for all variations. In the Dryden single-run test, all intensity result in a finish status, while the multi-run test obtains finish/collision ratios of 10/0 at Dryden intensity 1.0 and 9/1 at Dryden intensity 2.0 for both scenarios. Compared with the IFDS, VFG, PID, and AVO, the proposed method reduces the average Mean CTE by 52.17% and RMSE CTE by 27.46% over all conditions. These results indicate that the integration of IFDS, B-spline, SMC, CBF can improve the tracking quality and mission success of a quadcopter in an environment with obstacles and wind disturbances.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	B-Spline, Control Barrier Function, Gangguan Angin, Interfered Fluid Dynamical System, Model Dryden, Navigasi, Quadcopter, Sliding Mode Control, B-Spline, Control Barrier Function, Dryden Model, Interfered Fluid Dynamical System, Navigation, Quadcopter, Sliding Mode Control, Wind Disturbance
Subjects:	T Technology > T Technology (General) > T57.62 Simulation T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK3070 Automatic control
Divisions:	Faculty of Electrical Technology > Electrical Engineering > 20201-(S1) Undergraduate Thesis
Depositing User:	Ahmad Rizki Habibi
Date Deposited:	24 Jul 2026 01:38
Last Modified:	24 Jul 2026 01:38
URI:	http://repository.its.ac.id/id/eprint/136853

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