Design of Hexacopter Control for Fault Rotor Conditions by Using Self-Tuning Fuzzy PID

Fikri, Randy Arik (2025) Design of Hexacopter Control for Fault Rotor Conditions by Using Self-Tuning Fuzzy PID. Other thesis, Institut Teknologi Sepuluh Nopember.

Text 5022201164_Undergraduate_Thesis.pdf - Accepted Version Restricted to Repository staff only until 1 April 2027. Download (7MB) | Request a copy

Abstract

Hexacopters are increasingly utilized in various applications such as aerial surveillance, delivery, and cinematography. As a type of Unmanned Aerial Vehicle (UAV), hexacopters are known for their stability in flight due to the number of propellers they possess. Rotor failure is a significant challenge faced by UAVs during flight, with instability being a major issue when rotor failure occurs in hexacopters. The controller embedded in the hexacopter must be capable of maintaining stability during flight under such conditions. This paper presents a simulation of rotor failure in hexacopters by limiting 15.06% of the rotor speed as an indication of rotor fault condition during trajectory completion. A Fuzzy Logic Controller (FLC) design integrated with conventional PID controllers enhances adaptive capabilities in response to rotor fault conditions. The FLC's membership function is optimized based on hexacopter rotor failure simulations to regulate position and trajectory. Fuzzy-PID controller is configured to control the hexacopter in completing the trajectory both in fault-free and rotor fault conditions. Simulation results demonstrate that the Fuzzy-PID controller improves performance by managing hexacopter reach the trajectory set point and reducing MSE and RMSE metrics when rotor faults are simulated. The finished simulation of square trajectory with rotor fault 1 and 4 conditions by using Fuzzy-PID, x-axis is stopped at -0.3 m, showing a difference of 1.36 m with a percentage change of 81.93% compared to the rotor failure simulation using a PID controller, which stopped at -1.66 m. At y-axis response, the simulation reached at -0.69 m showing a difference of 3.77 m with a percentage change of 84.53% compared to the rotor failure simulation using a PID controller, which stopped at -4.46 m. At z-axis response at the end of the simulation stopped at 2.01 m.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Hexacopter, Rotor fault, Fuzzy Logic Controller, Fuzzy PID.
Subjects:	T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL152.8 Vehicles, Remotely piloted. Autonomous vehicles. T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL776 .N67 Quadrotor helicopters--Automatic control
Divisions:	Faculty of Intelligent Electrical and Informatics Technology (ELECTICS) > Electrical Engineering > 20201-(S1) Undergraduate Thesis
Depositing User:	Randy Arik Fikri
Date Deposited:	30 Jan 2025 07:09
Last Modified:	30 Jan 2025 07:09
URI:	http://repository.its.ac.id/id/eprint/117119

Actions (login required)

View Item