Sistem Kontrol Autonomous Quadcopter dengan Metode Sliding Mode Control dan Kalman Filter

Agustina, Nilla Perdana (2023) Sistem Kontrol Autonomous Quadcopter dengan Metode Sliding Mode Control dan Kalman Filter. Masters thesis, Institute Teknologi Sepuluh Nopember.

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Abstract

Penerapan sistem autonomous pada pesawat model quadcopter akan meningkatkan efektivitas dan efisiensi pemantauan karena jalur penerbangan pesawat telah ditentukan sebelumnya. Sistem autonomous mampu menggantikan kerja pilot yang memiliki keterbatasan jarak pandang, sehingga dapat meningkatkan luas area pemantauan. Selain itu dapat meminimalisir risiko korban jiwa ketika menjalankan misi berbahaya. Fase penerbangan gerakan pada quadcopter dibagi dalam 3 fase utama , yaitu take off, hovering dan landing. Hal ini membuat banyak peneliti mengembangkan sistem kontrol pada fase terbang quadcopter. Sliding mode control (SMC) dan Kalman filter adalah dua teknik yang dapat digunakan bersama-sama untuk mengontrol quadcopter secara efektif dan efisien. SMC akan membuat mode geser jika terjadi perbedaan antara posisi aktual dan posisi yang diinginkan. Sedangkan Kalman filter akan memperbaiki dan memprediksi posisi dan kecepatan quadcopter berdasarkan data sensor. Kombinasi dari kedua teknik ini akan membantu mengontrol quadcopter secara stabil dan akurat dalam bergerak di udara. Hasil pengujian eksperimen yang telah dilakukan didapatkan nilai eror dari sistem autonomous navigasi quadcopter dengan kontrol SMC-Kalman Filter pada sumbu x sebesar 〖6.38e〗^(-8) , sumbu y sebesar 〖5.97e〗^(-8), dan posisi z sebesar 〖4.82e〗^(-3)
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The application of an autonomous system on a quadcopter-model aircraft will increase the effectiveness and efficiency of monitoring because the flight path of the aircraft has been predetermined. Autonomous systems are able to replace the work of pilots who have limited visibility, so they can increase the monitoring area. Besides that, it can minimize the risk of casualties when carrying out dangerous missions. The flight phase of the quadcopter's movement is divided into three main phases: takeoff, hovering, and landing. This has led many researchers to develop control systems for the quadcopter flight phase. Sliding mode control (SMC) and Kalman filtering are two techniques that can be used together to control the quadcopter effectively and efficiently. The SMC will create a shift mode if there is a discrepancy between the actual position and the desired position. Meanwhile, the Kalman filter will improve and predict the position and speed of the quadcopter based on sensor data. The combination of these two techniques will help control the quadcopter stably and accurately as it moves through the air. The results of experimental testing that has been carried out show that the error value of the quadcopter navigation autonomous system with SMC-Kalman Filter control on the x axis is 〖3.68e〗^(-08), y axis is 〖3.66e〗^(-08), and z position is 〖2.21e〗^(-03).

Item Type:	Thesis (Masters)
Uncontrolled Keywords:	Quadcopter, Autonomous, Navigasi, SMC, Kalman Filter, Navigation
Subjects:	T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL152.8 Vehicles, Remotely piloted. Autonomous vehicles.
Divisions:	Faculty of Industrial Technology and Systems Engineering (INDSYS) > Physics Engineering > 30101-(S2) Master Thesis
Depositing User:	Nilla Perdana Agustina
Date Deposited:	01 Sep 2023 04:15
Last Modified:	01 Sep 2023 04:15
URI:	http://repository.its.ac.id/id/eprint/101375

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