Desain Kontrol Path Following Quadcopter Dengan Command Generator Tracker Model Following

Nugraha, Anggara Trisna (2017) Desain Kontrol Path Following Quadcopter Dengan Command Generator Tracker Model Following. Masters thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Quadcopter merupakan salah satu jenis Unmanned Aerial Vehicle (UAV) yang banyak digunakan sebagai objek penelitian saat ini. Dengan empat rotor sebagai penggerak utama, quadcopter mampu bergerak secara rotasional dan translasional. Kedua sistem gerak ini secara matematis tergolong nonlinier dan tidak stabil. Dalam penelitian ini, dirancang desain kontrol path following quadcopter menggunakan output feedback dengan command-generator tracker model following yang dapat melakukan path following terhadap path lingkaran walau terdapat gangguan eksternal. Sistem quadcopter dibagi berdasarkan sistem geraknya, yaitu sistem gerak rotasi dan sistem gerak translasi. Masing-masing sistem gerak dikendalikan dengan kontroler yang berbeda. Sebagai inner-loop dalam sistem quadcopter, sistem gerak rotasi dituntut memiliki settling time lebih cepat dari dari sistem gerak translasi yang merupakan outer loop. Nilai penguat kontroler yang mampu menjamin kestabilan sistem dan memenuhi performa H∞ diperoleh dengan bantuan Linear Matrix Inequality (LMI). Permasalahan path following dalam sistem gerak translasi diatasi dengan menggunakan command-generator tracker model following. Sistem dikombinasikan dengan algoritma line of sight yang mana algoritma tersebut untuk menjaga arah hadap dari quadcopter serta mampu mengatasi adanya gangguan eksternal. Hasil simulasi menunjukkan bahwa metode kontrol yang digunakan mampu membawa sudut yaw pada nilai yang diharapkan dengan nilai ISE sebesar 0.024 Rad dan pada saat terdapat gangguan sebesar 0.0903 Rad. Quadcopter dapat melakukan path following secara otomatis dengan nilai maksimum ISE sebesar 0.001 m. Selain itu, sistem kontrol juga mampu mengatasi gangguan eksternal berupa wind gust dengan penyimpangan posisi X maksimum mencapai 0.013168 m serta pada posisi Y sebesar 0.0003 m . Kontroler ini mampu mengatasi delay sebesar ±3.17 detik serta mampu melakukan path following pada lintasan persegi dan spiral (helix). ============================================================================================ Quadcopter is one type of UAV that is widely used as the object of current research. With four main drive rotors, quadcopter is able to move rotationally and translationally. Both motions are mathematically classified as non-linear and unstable. In this study, designed the path following quadcopter control using output feedback with command-generator trackel model following wich can do path following to the circle path although there are external troubles. Quadcopter system divided by the movement system, which is rotation move system and translation move system. Each of them are controlled with different controller. As an inner-loop in quadcopter system, rotation movement system is reqired to have settling time faster then translation movement system wich using outer loop. The value of controller amplifier which can guarantee the stability of the system and comply the performances of H∞ obtained with help of the matrix inequality (LMI). The path following problems in translation movement system are solved with using command-generator tracker model following. The system is combinationed with line of sight alogarithm, wich is that alogarithm used to keep the headings of quadcopter and also can conquer the external problems. The result of the simulation shows that control method wich used can make yaw angel in to the expected value according to the ISE value wich is 0.024 Rad, and when there’s a trouble wich is 0.0903 Rad. Quadcopter can do path following otomatically with the maximum of ISE value wich 0.001 m. Other than that, the control systmem also can handle the external problems such as wind gust with the deviation of X maximum potition reach out 0.013168 and in Y potition reach out 0.0003 m. This controller can overcome the delay in amount of +/- 3.17 secon and also can do path following in square and helix path.

Item Type: Thesis (Masters)
Additional Information: RTE 629.831 2 Nug d-1
Uncontrolled Keywords: Quadcopter, LOS, Command-Generator Tracker Model Following, LQ regulator
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK5105.546 Computer algorithms
T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL521.3 Automatic Control
U Military Science > U Military Science (General)
Divisions: Faculty of Industrial Technology > Electrical Engineering > (S2) Master Theses
Depositing User: Anggara Trisna Nugraha
Date Deposited: 26 Oct 2017 06:01
Last Modified: 05 Mar 2019 02:32
URI: http://repository.its.ac.id/id/eprint/42066

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