Khotimah, Ainun Kusnul (2020) Estimasi dan perancangan sistem kendali robust untuk tracking posisi pada gerak unmanned aerial vehicle (UAV). Masters thesis, Intitut Teknologi Sepuluh Nopember.
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Abstract
Unmanned Aerial Vehicle (UAV) merupakan pesawat udara yang dapat dikendalikan dari jarak jauh dengan menggunakan remote control, atau mampu mengendalikan dirinya sendiri. Oleh karena itu, diperlukan suatu metode estimasi yang mampu memberikan estimasi gerakan UAV pada saat di udara. Robust H-infinity Filter dipilih karena mampu memberikan estimasi dengan nilai error yang sangat kecil. UAV memiliki banyak misi, salah satunya adalah mengawasi wilayah sengketa. Dalam perkembangannya diperlukan metode kontrol yang dapat diterapkan pada model uncertinity. Sliding Mode Control (SMC) adalah metode kontrol yang dapat diterapkan pada model ketidakpastian. Oleh karena itu, metode Kontrol Mode Geser dirancang untuk mengontrol gerakan UAV. Dari hasil simulasi diketahui bahwa dengan menerapkan metode SMC gerakan UAV mampu mengikuti set point yang diberikan. Dengan kata lain, metode Kontrol Mode Geser dapat diterapkan untuk mengontrol gerakan UAV.
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Unmanned Aerial Vehicle (UAV) is an aircraft that can be controlled remotely by using remote control, or capable of controlling itself. Therefore, we need an estimation method that is able to provide an estimate of the motion of a UAV while in the air. Robust H-infinity Filter was chosen because it is able to provide estimates with very small error values. UAVs have many missions, one of which is overseeing disputed areas. In its development, a control method that can be applied to the uncertainty model is needed. Sliding Mode Control (SMC) is a control method that can be applied to the uncertainty model. Therefore, the Sliding Mode Control method is designed to control UAV movements. From the simulation results it is known that by applying the SMC method the UAV movement is able to follow the given set point. In other words, the Sliding Mode Control method can be applied to control UAV movements.
| Item Type: | Thesis (Masters) |
|---|---|
| Additional Information: | RTMa 511.8 Kho e-1 2020 |
| Uncontrolled Keywords: | Robust H-infinity Filter, UAV, Estimation, SMC |
| Subjects: | H Social Sciences > HG Finance > HG4012 Mathematical models T Technology > T Technology (General) > T57.62 Simulation T Technology > TJ Mechanical engineering and machinery > TJ217.2 Robust control T Technology > TL Motor vehicles. Aeronautics. Astronautics U Military Science > UG1242 Drone aircraft--Control systems. (unmanned vehicle) |
| Divisions: | Faculty of Science and Data Analytics (SCIENTICS) > Mathematics > 44101-(S2) Master Thesis |
| Depositing User: | Ainun Kusnul Khotimah |
| Date Deposited: | 03 Jan 2024 07:48 |
| Last Modified: | 03 Jan 2024 07:48 |
| URI: | http://repository.its.ac.id/id/eprint/74610 |
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