Waypoint Tracking Control Pada Quadcopter Menggunakan PID-Based Sliding Mode Control

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