Nugraha, Yurid Eka (2016) Waypoint Tracking Control Pada Quadcopter Menggunakan PID-Based Sliding Mode Control. Undergraduate thesis, Institut Teknologi Sepuluh Nopember.
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Abstract
Quadcopter merupakan suatu sistem yang bersifat nonlinear dan
tidak stabil. Oleh karena itu, dibutuhkan sebuah kontroler yang mampu
menjaga kondisi plant tetap stabil dan mengikuti referensi yang diberikan.
Sliding Mode Control dapat mengatasi perubahan parameter plant tanpa
menyebabkan gangguan pada performa sistem. Sliding Mode Control
merupakan metode kontrol berbasis switching berfrekuensi tinggi dan
memiliki aksi kontrol yang sifatnya diskontinyu. Namun, Sliding Mode
Control dapat menimbulkan chattering pada sistem. Oleh karena itu, pada
penelitian ini digunakan metode Sliding Mode Control dengan sinyal
kontrol natural berupa struktur kontroler PID pada plant quadcopter.
Dengan menggunakan metode ini, diharapkan quadcopter dapat
melakukan waypoint tracking dengan akurat dari referensi yang
diharapkan tanpa adanya chattering. Kestabilan dari keseluruhan loop
pengaturan sistem dipastikan menggunakan fungsi kestabilan Lyapunov.
Kontroler hasil desain diaplikasikan pada sistem quadcopter. Hasil
simulasi menunjukkan bahwa sistem quadcopter dengan menggunakan
kontroler PID-Based Sliding Mode Control mampu melakukan tracking
terhadap sumbu x dan y dengan error RMS masing-masing 0,2% dan
0,47%.
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Quadcopter is a system that is both nonlinear and unstable.
Therefore, it needs a controller that is capable of maintaining the plant's
condition remains stable and follow the references given. Sliding Mode
Control can overcome changes of parameter of the plant without causing
disruption on the performance of the system. Sliding Mode Control is a
method which using high-frequency switching and have discontinuous
control action.. However, Sliding Mode Control can cause chattering on
the system. Therefore, in this study it is used Sliding Mode Control with
natural control signals in the form of the structure of PID controller on
quadcopter. By using this method, it is expected that quadcopter can do
waypoint reference tracking without having chattering phenomenon. The
stability of the entire control system loop is ensured using Lyapunov
stability functions. Results of controller design is applied to quadcopter
system. Simulation results indicate that the system is capable of reference
tracking in quadcopter system in x and y axis with RMS error each 0.2%
and 0.47%..
| Item Type: | Thesis (Undergraduate) |
|---|---|
| Additional Information: | RSE 629.89 Nug w |
| Uncontrolled Keywords: | PID; Quadcopter; Sliding Mode Control; Tracking; PID Controller; Quadcopter; Sliding Mode Control |
| Subjects: | T Technology > TJ Mechanical engineering and machinery > TJ223 PID controllers |
| Divisions: | Faculty of Industrial Technology > Electrical Engineering > 20201-(S1) Undergraduate Thesis |
| Depositing User: | Anis Wulandari |
| Date Deposited: | 09 Jun 2017 02:05 |
| Last Modified: | 27 Dec 2018 03:21 |
| URI: | http://repository.its.ac.id/id/eprint/41540 |
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