Sistem Pendaratan Otomatis Quadcopter Pada Platform Bergerak Menggunakan Fuzzy Sliding Mode Controller

Firjatullah, Fairuz (2022) Sistem Pendaratan Otomatis Quadcopter Pada Platform Bergerak Menggunakan Fuzzy Sliding Mode Controller. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Kendaraan Udara Tanpa Awak (Unmanned Aerial Vehicle) merupakan sebuah kendaraan udara tanpa pilot yang memanfaatkan gaya angkat (thrust) dan dapat dikendalikan secarajarak jauh atau terbang autonomous. Quadcopter merupakan salah satu jenis UAV yang banyak digunakan, terutama di bidang militer untuk pengintaian dan bidang sipil untuk penyelamatan korban jiwa bencana. Quadcoptermemiliki sistem yang bersifat nonlineardan tidak stabil. Guna mempertahankan kestabilan dari quadcopter, diperlukan sebuah kontroler yang dapat mengatasi perubahan parameter plant tanpa menyebabkan gangguan pada performa sistem. Sliding Mode Control(SMC)merupakan kontroler dengan karakteristik tersebut dan merupakan kontroler yang berbasis switching berfrekuensi tinggi serta memiliki aksi kontrol yang bersifat diskontinyu. Namun, SMC dapat menimbulkan chatteringpada sinyal kontrol sehingga menyebabkan adanya gangguan pada kerja sistem, terutamasaat trackinglintasan dan melakukan pendaratan. Sehingga pada penelitian ini, perlu dilakukan penguranganchatteringpada sinyal kontrol yang dihasilkan dari SMC dengan menggunakan Fuzzy Logic Control(FLC). Dengan diintegrasikannya SMC dan FLC, maka dihasilkan Fuzzy Sliding Mode Control(FSMC) yang dapat mengurangi errordan chatteringterhadapkontroler SMC. Hal tersebut dibuktikan dengan contoh nilai Mean Absolute Error(MAE)dari SMC pada posisi sudut roll saat lintasanHelix Vertikal yaitu sebesar 1,833056 ×10-3derajat dan nilai MAE dari FSMC sebesar2,40391×10-5 derajat.Kemudianpada pengujian pendaratan,nilai MAE Sliding Mode Control dengan gangguan saat kecepatan 0,2 m/s pada sumbu x sebesar 3,798951×10-1m/sdan nilaiMAE Fuzzy Sliding Mode Controlmemiliki gangguansebesar 379883807×10-1m/s.Sehingga FSMC memiliki performa yanglebihbaik dari SMC.
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Unmanned Aerial Vehicle (Unmanned Aerial Vehicle)is an aerial vehicle without a pilot that utilizes lift (thrust)and can be controlled remotely or fly autonomously. Quadcopteris one type of UAV that is widely used, especially in the military field for reconnaissance and the civilian field for saving disaster victims. Quadcopterhas a system that is nonlinear and unstable. In order to maintain the stability of the quadcopter, we need a controller that can handle changes in plant parameters without causing disturbances to system performance. Sliding Mode Control (SMC)is a controller with these characteristics and is a controller based on high frequency switching and has a discontinuous control action. However, SMC can cause chattering on the control signal, causing disturbances to the system's Works, especially while trajectory tracking and landing.So that in this study, the chattering reduction was carried out on the control signal generated from the SMC by using Fuzzy Logic Control. With Theintegration of SMC and FLC, it will obtained Fuzzy Sliding Mode Control that can reduce error and chattering from SMC controller. It’s proven by the example of Mean Absolute Error (MAE) from SMC in roll angle position while implemented on Vertical Helix track, it obtained 1,833056 x 10-3degreeand from FSMC it obtained 2,40391 x 10-5degree.Then, on the landing testwith disturbance, MAE value in x coordinateof SMCobtained 3,798951×10-1m/sand FSMC obtained 379883807 ×10-1m/s. So, the FSMC have good performancethan SMC

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Unmanned Aerial Vehicle, Quadcopter, Sliding Mode Control,Fuzzy Logic Control, Chattering, Error
Subjects:	Q Science > QA Mathematics > QA9.64 Fuzzy logic T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions:	Faculty of Intelligent Electrical and Informatics Technology (ELECTICS) > Electrical Engineering > 20201-(S1) Undergraduate Thesis
Depositing User:	Anis Wulandari
Date Deposited:	02 Nov 2022 01:22
Last Modified:	02 Nov 2022 01:22
URI:	http://repository.its.ac.id/id/eprint/95041

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