Desain Kendali Pada Gerak Longitudinal Pesawat UAV Menggunakan Modified Model Predictive Control

Putri, Sonia Dian Amartya Harsono (2021) Desain Kendali Pada Gerak Longitudinal Pesawat UAV Menggunakan Modified Model Predictive Control. Undergraduate thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Unmanned Aerial Vehicle (UAV) merupakan salah satu pesawat tanpa awak yang dikendalikan dari jarak jauh. Oleh karena itu, dibutuhkan suatu desain kendali pada UAV agar pesawat dapat bergerak sesuai dengan referensi yang diinginkan. Salah satu gerakan yang dikendalikan adalah dinamika gerak longitudinal pesawat, yaitu gerakan yang dapat menyebabkan pesawat bergerak naik dan turun. Dinamika gerak longitudinal pesawat dikendalikan oleh kendali elevator yang mengendalikan pitch dari pesawat. Pada penelitian ini, dilakukan desain kendali pada dinamika gerak longitudinal UAV dengan menggunakan metode Modified Model Predictive Control yang merupakan metode pengembangan dari Model Predictive Control. Hasil simulasi sistem yang didapat dari skema M-MPC dengan keluaran referensi sebesar 0◦ didapatkan nilai Mean Absolute Error (MAE) sebesar 0,756117458 dan settling time keluaran sebesar 38,853827400s, sedangkan saat diberikan dua setpoint keluaran referensi yaitu sebesar 0◦ pada detik ke-0 hingga detik ke-10 dan 15◦ pada detik ke-10 hingga detik ke-40 dihasilkan respon sistem berupa nilai MAE sebesar 0,815244655 dan settling time keluaran sebesar 38,717411441s. Sehingga didapatkan kesimpulan bahwa input kendali yang dihasilkan metode M-MPC lebih baik dibandingkan dengan metode MPC dikarenakan desain kendali metode M-MPC menghasilkan nilai respon sistem MAE antara pitch keluaran dan referensi lebih kecil serta nilai settling time keluaran sistem lebih cepat dibandingkan dengan metode MPC.
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Unmanned Aerial Vehicle (UAV) is a remote controlled drone which needs a control design, so UAV can move as desired. One of the controlled movements is the dynamics of the longitudinal motion of the aircraft, which is the movement that causes the aircraft to move up and down. This movement is controlled by the elevator control which controls the pitch angle of the aircraft. In this research, the longitudinal motion control design of UAV was carried out using the Modified Model Predictive Control method which is a development method of Model Predictive Control. The results of the system simulation using the M-MPC scheme with a reference output of 0◦, the MAE value is 0,756117458 and the output settling time is 38,853827400s, while the reference output is 0◦ at 0th to 10th seconds and 15◦ at the 10th to 40th second, the resulting system response is an MAE value of 0,815244655 and an output settling time of 38,717411441s. So it can be concluded that the control input produced by the M-MPC
method is better than the MPC method because the control design of the M-MPC method produces a system response value of Mean Absolute Error between the output and reference pitch is smaller and settling time value of the system output is faster than MPC method.

Item Type:	Thesis (Undergraduate)
Uncontrolled Keywords:	unmanned aerial vehicle, dinamika gerak longitudinal, pitch, kendali elevator, modified model predictive control, unmanned aerial vehicle, dynamics of longitudinal motion, pitch angle, elevator control, modified model predictive control
Subjects:	Q Science > QA Mathematics T Technology > T Technology (General) > T57.62 Simulation 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 > 44201-(S1) Undergraduate Thesis
Depositing User:	Sonia Dian Amartya Harsono Putri
Date Deposited:	26 Aug 2021 12:42
Last Modified:	26 Aug 2021 12:42
URI:	http://repository.its.ac.id/id/eprint/89721

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