Haris, Muhammad (2019) Perancangan Kontroler Adaptif MRAC dan LQT untuk Kestabilan dan Trayektori Tracking pada UAV berjenis Fixed-Wing. Undergraduate thesis, Institut Teknologi Sepuluh Nopember.
![[thumbnail of 07111540000151-Undergraduate_Theses.pdf]](http://repository.its.ac.id/style/images/fileicons/text.png) |
Text
07111540000151-Undergraduate_Theses.pdf - Accepted Version Restricted to Repository staff only until 1 October 2022. Download (2MB) | Request a copy |
|
Text
07111540000151-Undergraduate_Theses.pdf Restricted to Repository staff only until 1 October 2022. Download (2MB) | Request a copy |
Abstract
UAV Fixed-Wing merupakan jenis pesawat tanpa awak yang mempunyai sayap tetap dan memiliki airfoil yang dirancang sehingga mampu memiliki gaya angkat dan bergerak maju dengan dorongan dari propeller pesawat. UAV Fixed-Wing memiliki 6 Degreee of Freedom (derajat kebebasan) yang merupakan sistem non-linear yang terikat secara kompleks. Tujuan penggunaan kontroler MRAC & LQT adalah agar kestabilan UAV tersebut tercapai dan dapat mengikuti trayektori yang sudah ditentukan, maka diperlukan kontroler untuk kestabilan rotasi dari sudut-sudut orientasi juga kontroler untuk mengatur gerakan translasi sumbu X dan Y dari UAV tersebut. Kontrol Adaptif MRAC digunakan sebagai kontroler kestabilan, sedangkan kontroler LQT bertindak sebagai kontrol tracking pada trayektori UAV Fixed-Wing. Pada pengujian tracking, ditambahkan gangguan berupa angin yang bergerak dengan kecepatan tetap pada koordinat north, east, dan down, maupun gangguan berupa hebusan angin pada sumbu X, Y, dan Z pada body-frame UAV. Hasil pengujian kontroler menunjukkan bahwa kontroler hasil desain dapat mengatur kestabilan UAV dan mengikuti sesuai dengan lintasan sinyal yang diberikan dengan nilai rata-rata kuadrat eror (RMSE) sebesar 0,009.
================================================================================================
Fixed-Wing UAV is a type of Unmanned Aircraft that has a rigid wings and has a specified airfoil and a thrust from the aircraft’s propeller so as to be able to generate lift force the aircraft and go forward. Fixed-Wing UAV has 6 degree of freedom which are non-linear coupled complex system. The purpose of using MRAC & LQT controller is for the UAV to be able to follow a well-defined trajectory, therefore a controller is needed for rotational stability from the orientation angles as well as a controller to set the translation move in X and Y axis of the UAV. MRAC adaptive controller is used for stability mean while the LQT controller acts as a trajectory tracking on Fixed-Wing UAV. In trajectory tracking, interference is added in the form of winds moving at a steady speed in the coordinates of north, east, and down, or gust disturbances in the form of wind blowing on the X, Y, and Z axes in the body-frame of the UAV. The results show that the design controller can adjust the stability of the UAV and can follow it according to the given signal path trajectory with the Root-Mean-Square-Error (RMSE) of 0.009.
| Item Type: | Thesis (Undergraduate) |
|---|---|
| Additional Information: | RSE 629.89 Har p-1 2019 |
| Uncontrolled Keywords: | Fixed-Wing, MRAC, Linear Quadratic Tracking, Trayektori tracking, RMSE. |
| Subjects: | T Technology > TK Electrical engineering. Electronics Nuclear engineering T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL521.3 Automatic Control |
| Divisions: | Faculty of Intelligent Electrical and Informatics Technology (ELECTICS) > Electrical Engineering > 20201-(S1) Undergraduate Thesis |
| Depositing User: | Muhammad Haris |
| Date Deposited: | 15 Sep 2021 20:25 |
| Last Modified: | 15 Sep 2021 20:25 |
| URI: | http://repository.its.ac.id/id/eprint/60184 |
Actions (login required)
 |
View Item |