Darajat, Anisa Ulya (2016) Kompensasi Kesalahan Aktuator Quadrotor Pada Control Assembler Menggunakan Modified Least Square. Masters thesis, Institut Teknologi Sepuluh Nopember.
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Abstract
Quadrotor sebagian besar membahas penerapan kontroler saat kondisi penerbangan normal. Untuk quadrotor saat terjadi kesalahan pada salah satu atau lebih aktuator dapat menyebabkan quadrotor tidak dapat mengikuti sinyal referensi dan menyebabkan tracking error semakin besar. Pada penelitian ini memperkenalkan strategi desain fault tolerant control. Fault tolerant control (FTC) adalah suatu metode kontrol yang dapat menoleransi kesalahan sehingga performa sistem tetap terjaga. Pada penelitian ini, metode backstepping control digunakan sebagai kontroler untuk gerak translasi dan rotasi, sedangkan untuk menjaga stabilisasi saat terjadi kesalahan pada aktuator (rotor) digunakan modified least square untuk mengestimasi kesalahan, kemudian hasil estimasi tersebut digunakan untuk mengkompensasi kesalahan pada aktuator. Hasil simulasi menunjukkan bahwa metode yang digunakan mampu membawa quadrotor mengikuti sinyal referensi dengan tracking error menjadi lebih kecil dan kontroler mampu mengatasi kesalahan hingga 65% dari total gaya yang dihasilkan oleh motor.
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Quadrotor mostly discuss the implementation of the current controller normal flight conditions. For quadrotor when an error occurs on one or more actuators may cause quadrotor can not follow the reference signal and cause tracking error increases. In this research introduces the design of fault tolerant control strategies. Fault tolerant control (FTC) is a control method that can tolerate errors so that system performance is maintained. In this research, backstepping control method is used as a controller for translational and rotational motion, while the stabilization when an error occurs in the actuator (rotor) used modified least square to estimate the error, then the results of these estimates are used to compensate for errors in the actuator. The simulation results showed that the method used is capable of carrying quadrotor follow the reference signal with the tracking error becomes smaller and the controller is able to cope with an error of up to 65% of the total force generated by the motor.
| Item Type: | Thesis (Masters) |
|---|---|
| Additional Information: | RTE 629.8 Dar k 3100016067725 |
| Uncontrolled Keywords: | Quadrotor, tracking error, fault tolerant control, backstepping control, modified least square. |
| Subjects: | T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK3070 Automatic control |
| Divisions: | Faculty of Industrial Technology > Electrical Engineering > 20101-(S2) Master Thesis |
| Depositing User: | Yeni Anita Gonti |
| Date Deposited: | 23 Jul 2020 05:25 |
| Last Modified: | 24 Dec 2021 03:04 |
| URI: | http://repository.its.ac.id/id/eprint/76472 |
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