Perancangan Kontroler LQR-PID dalam Sistem Penelusuran Jalur untuk Unmanned Aerial Vehicles

Khairana, M. Dhyaksa (2018) Perancangan Kontroler LQR-PID dalam Sistem Penelusuran Jalur untuk Unmanned Aerial Vehicles. Undergraduate thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Sebuah pesawat tanpa awak (Unmanned Aerial Vehicles) perlu dikendalikan agar mampu terbang tanpa perlu bantuan seorang pilot. Salah satu caranya ialah dengan memberikan titik – titik tertentu pada koordinat agar pesawat melewati titik – titik tersebut dengan mengendalikan sudut moncong pesawat terhadap titik – titik tersebut. Pengendalian ini menjadi lebih rumit dikarenakan persamaan dinamika pesawat bersifat non-linear dan coupled. Penggabungan pengendali LQR dan PID merupakan salah satu metode untuk mengendalikan sudut agar pesawat dapat melewati referensi yang diberikan. Cara menggabungkannya ialah dengan menggunakan metode LQR tuning, yaitu di mana output dari LQR menghasilkan gain proporsional, integral, dan derivatif yang sesuai dengan kondisi sistem. Namun, sistem harus memiliki karakteristik linear. Sehingga diperlukan linearisasi agar pesawat dapat dilakukan tuning oleh LQR. Di dalam tugas akhir ini, dirancang sebuah sistem path following dengan non-linear state feedback decoupler dan kontroler LQR tuning – PID. Tipe referensi yang diberikan adalah titik pada koordinat (x, y). Hasil simulasi menunjukkan bahwa hasil time constant yang diinginkan masih sesuai dengan toleransi 0,1s yang diberikan untuk pengujian referensi pengendali. Dan untuk hasil simulasi path following memiliki Root-Mean-Square-Error (RMSE) 31,1735. ============= Unmanned Aerial Vehicles (UAV) needs to be controlled so it can fly without pilot. One of the means is to add a few points in a coordinate so the plane will go through those points by controlling the heading angle of the plane. This get more complicated as the dynamic equation of the plane is non-linear and coupled. The combination of LQR and PID controller is one of the methods to control the heading angle of the plane so it can go to the specified reference. The way to combine both controllers is by using LQR tuning method, which is the output of LQR produce proportional, integral, and derivative gain that match the system. But to do that, the system has to be linear. So, the linearization method is needed so the plane could be tuned by LQR. In this book, path following system is designed with non-linear state feedback decoupler and LQR tuning – PID controller. The type of reference given is the coordinate points (x, y). The simulation results in all the controller is working good for constant input with tolerance of 0.1s. And for the path following system, the Root-Mean-Square-Error (RMSE) results in 31.1735.

Item Type: Thesis (Undergraduate)
Additional Information: RSE 629.13 Kha p-1
Uncontrolled Keywords: Unmanned Aerial Vehicles, Non-linear State Feedback Decoupler, LQR tuning – PID, Path Following
Subjects: T Technology > TJ Mechanical engineering and machinery > TJ223 PID controllers
T Technology > TK Electrical engineering. Electronics Nuclear engineering
T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL521.3 Automatic Control
U Military Science > UG1242 Drone aircraft--Control systems. (unmanned vehicle)
Divisions: Faculty of Electrical Technology > Electrical Engineering > 20201-(S1) Undergraduate Thesis
Depositing User: Khairana Muhamad Dhyaksa
Date Deposited: 18 Dec 2018 03:44
Last Modified: 18 Dec 2018 03:44
URI: http://repository.its.ac.id/id/eprint/53279

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