Desain Kontrol Pada Quadcopter Dengan Linear Quadratic Gaussian (Lqg)

Alifah, Zahra Nur (2022) Desain Kontrol Pada Quadcopter Dengan Linear Quadratic Gaussian (Lqg). Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Quadcopter merupakan salah satu jenis pesawat tanpa awak yang banyak digunakan dalam berbagai bidang, salah satunya adalah sebagai alat pemetaan, pengintai dan pencarian korban bencana alam. Pengendalian quadcopter merupakan hal yang penting untuk menjaga kestabilan posisi dan orientasi quadcopter. Sistem dinamika quadcopter bersifat nonlinier sehingga sulit untuk dikendalikan secara langsung. Pada tugas akhir ini dilakukan perancangan kontrol Linear Quadratic Gaussian (LQG) untuk menstabilkan quadcopter. Kontrol LQG merupakan gabungan dari Linear Quadratic Regulator (LQR) dan Kalman Filter. LQR digunakan untuk mengoptimalkan kinerja sistem, sedangkan Kalman Filter digunakan untuk mengestimasi state sistem yang dipengaruhi oleh gangguan (noise) pada sistem dan pengukuran. Hasil simulasi menunjukkan bahwa kontrol LQG mampu menstabilkan sistem quadcopter dengan nilai overshoot yang kecil. Selain itu, kontrol LQG juga memberikan respon sistem yang cepat dalam mencapai titik setimbang.
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Quadcopter is one type of unmanned aerial vehicle that is widely used in various fields, one of which is as a tool for mapping, reconnaissance and search for victims of natural disasters. Controlling a quadcopter is important to maintain the stability of the quadcopter's position and orientation. The quadcopter dynamics system is nonlinear so it is difficult to control directly. In this final project, the Linear Quadratic Gaussian (LQG) control design is carried out to stabilize the quadcopter. LQG control is a combination of Linear Quadratic Regulator (LQR) and Kalman Filter. LQR is used to optimize system performance, while the Kalman Filter is used to estimate the state of the system which is influenced by noise in the system and measurements. The simulation results show that the LQG control is able to stabilize the quadcopter system with a small overshoot value. In addition, LQG control also provides a fast system response in reaching the equilibrium point.

Item Type:	Thesis (Other)
Additional Information:	RSMa 515.642 Ali d-1 2022
Uncontrolled Keywords:	Quadcopter. Linear Quadratic Gaussian. Quadcopter. Linear Quadratic Gaussian.
Subjects:	Q Science > QA Mathematics
Divisions:	Faculty of Mathematics and Science > Mathematics > 44201-(S1) Undergraduate Thesis
Depositing User:	Mr. Marsudiyana -
Date Deposited:	05 Jun 2026 04:13
Last Modified:	05 Jun 2026 04:13
URI:	http://repository.its.ac.id/id/eprint/133601

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