Tuning Parameter Linear Quadratic Tracking Menggunakan Algoritma Genetika Untuk Pengendalian Gerak Lateral Quadcopter

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. ================================================================================= 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 > (S1) Undergraduate Theses
Depositing User: Mrs 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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