Akbar, Farid Choirul (2016) Tuning Parameter Linear Quadratic Tracking Menggunakan Algoritma Genetika Untuk Pengendalian Gerak Lateral Quadcopter. Undergraduate thesis, Institut Teknologi Sepuluh Nopember.
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Abstract
Gerakan lateral quadcopter dapat dilakukan apabila quadcopter
dapat menjaga kestabilan pada saat hover, sehingga quadcopter dapat
melakukan gerak rotasi. Perubahan sudut roll akan mengakibatkan gerak
translasi pada sumbu Y, sedangkan perubahan sudut pitch akan
mengakibatkan gerak translasi pada sumbu X. Disisi lain, quadcopter
merupakan suatu sistem non-linear dan memiliki kestabilan yang rendah
sehingga rentan terhadap gangguan. Pada penelitian Tugas Akhir ini
dirancang pengendalian gerak rotasi quadcopter menggunakan Linear
Quadratic Regulator (LQR) dan Linear Quadratic Tracking (LQT) untuk
pengendalian gerak translasi. Untuk mendapatkan parameter dari LQT
digunakan Algoritma Genetika (GA). Hasil tuning GA yang digunakan
pada LQT memiliki nilai Qx 700,1884, nilai Qy 700,6315, nilai Rx
0,1568, dan nilai Ry 0,1579. Respon LQT tersebut memiliki RMSE pada
sumbu X dan sumbu Y sebesar 1,99 % serta memiliki time lagging 0,35
detik. Dengan hasil tersebut quadcopter mampu men-tracking trajectory
berbentuk segitiga.
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Lateral movement of quadcopter occurs when quadcopter can
maintain stability during a hover, because this movement occurs by
changing the angle of rotation. Changing of roll angel make translational
movement on Y axis and changing of pitch angel make translational
movement on X axis. Additionally, quadcopter are a non-linear system,
has low stability and susceptible with interference. In this final project
designed rotational movement control of quadcopter using Linear
Quadratic Regulator (LQR) and Linear Quadratic Tracking (LQT) for
controlling the translational movement. To get the parameters of LQT
used Genetic Algorithm (GA). From GA tuned, the value of Qx is
700.1884, the value of Qy is 700.6315, the value of Rx is 0.1568 and the
value of Ry is 0.1579. The response of LQT has RMSE on the X axis and
Y axis about 1.99% and has a lagging time about 0.35 seconds. With these
results quadcopter able to follow the triangular trajectory
| Item Type: | Thesis (Undergraduate) |
|---|---|
| Additional Information: | RSE 629.831 2 Akb t |
| Uncontrolled Keywords: | Quadcopter; lateral; Linear Quadratic Regulator; Linear Quadratic Tracking; Algoritma Genetika; lateral movement; Linear Quadratic Regulator; Genetic Algorithm |
| Subjects: | T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK5105.546 Computer algorithms |
| Divisions: | Faculty of Industrial Technology > Electrical Engineering > 20201-(S1) Undergraduate Thesis |
| Depositing User: | Anis Wulandari |
| Date Deposited: | 29 May 2017 05:15 |
| Last Modified: | 26 Dec 2018 03:46 |
| URI: | http://repository.its.ac.id/id/eprint/41401 |
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