Khoiron, Mohammad (2019) Keterkendalian Dan Keteramatan Dari Partially Observable Sistem Augmentasi Quadcopter Untuk Terbang Hover. Masters thesis, Institut Teknologi Sepuluh Nopember.
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Abstract
Quadcopter dilengkapi dengan sensor redundan sebagai jaminan untuk keteramatan dan keterkendaliannya. Tapi, ketika quadcopter mengalami kegagalan multi-sensor sekaligus, kemampuan pengendalian dan pengamatan quadcopter akan memburuk. Penelitian ini menganalisis tetapnya keteramatan dan keterkendalian quadcopter di bawah kegagalan sensor yang parah. Diasumsikan bahwa semua sensor rotor berada dalam kondisi gagal, oleh karena itu quadcopter bergantung pada sensor Inertial Measurement Unit (IMU) dan Global Positioning System (GPS) (receiver). Tujuannya adalah menemukan kombinasi kegagalan sensor IMU-GPS yang membuat quadcopter masih sepenuhnya atau sebagian dapat diamati dan dikendalikan. Untuk tujuan ini, dinamika quadcopter dimodelkan sebagai sistem kaskade dari dinamika rotor quadcopter dan dinamika badan quadcopter, yang dikombinasikan untuk membentuk model augmentasi dinamika quadcopter. Namun, kemampuan pengamatan dan pengendalian loop tertutup bergantung pada sensor yang masih berfungsi. Algoritma untuk menentukan sinyal input untuk kontrol loop tertutup di bawah beberapa skenario kegagalan sensor diturunkan. Algoritma ini divalidasi menggunakan simulasi.
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Quadcopters are equipped with redundant sensors as an assurance for their observability and controllability. However, when they experienced multi sensor faults at once, their controllability and observability will be deteriorated. This study analyzes perseverance of observability and controllability of quadcopters under severe sensor faults. It is assumed that all rotor sensors are in fault conditions hence quadcopters rely on Inertial Measurement Unit (IMU) and Global Positioning System (GPS) sensors (receiver). The interests are in finding the combinations of IMU-GPS sensor faults that make quadcopters are still fully or are partially observable and controllable. For this purpose, quadcopter dynamics is modelled as a cascade of quadcopter rotor dynamics and quadcopter body dynamics, which are combined to form an augmented model of quadcopters dynamics. Their observability and closed loop controllability, however, depend on which sensor(s) is still functioning. Algorithms for determining the input signals for closed loop controllability under several sensor faults scenarios are derived. These algorithms are validated using simulations
| Item Type: | Thesis (Masters) |
|---|---|
| Additional Information: | RTE 629.83 Kho k-1 2019 |
| Uncontrolled Keywords: | Cascade system, observability, controllability, sensor fault, quadcopter |
| Subjects: | T Technology > TJ Mechanical engineering and machinery > TJ213 Automatic control. T Technology > TJ Mechanical engineering and machinery > TJ223 PID controllers T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK7870.23 Reliability. Failures U Military Science > UG1242 Drone aircraft--Control systems. (unmanned vehicle) |
| Divisions: | Faculty of Electrical Technology > Electrical Engineering > 20101-(S2) Master Thesis |
| Depositing User: | Moh. khoiron |
| Date Deposited: | 21 Jul 2021 07:39 |
| Last Modified: | 21 Jul 2021 07:39 |
| URI: | http://repository.its.ac.id/id/eprint/60972 |
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