Perancangan Sistem Kendali Autonomous Hybrid Quadplane Menggunakan Sliding Mode Control Berbasis Adaptive Gain untuk Menjaga Stabilitas Pasca Pelepasan Rudal

Ihsan, Jamil (2026) Perancangan Sistem Kendali Autonomous Hybrid Quadplane Menggunakan Sliding Mode Control Berbasis Adaptive Gain untuk Menjaga Stabilitas Pasca Pelepasan Rudal. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Pelepasan rudal dari Unmanned Aerial Vehicle (UAV) tipe hybrid quadplane menimbulkan perubahan massa, momen inersia, dan pergeseran titik pusat massa yang mengganggu kestabilan terbang, khususnya pada sumbu roll dan pitch saat kondisi hover. Penelitian ini merancang sistem kendali Sliding Mode Control (SMC) berbasis adaptive gain untuk mempertahankan kestabilan sikap (attitude) Hybrid Quadplane mengacu pada UAV Kestrel MK II pasca pelepasan dua buah rudal Raytheon Pike 20. Simulasi dilakukan pada MATLAB/Simulink dengan membandingkan tiga kondisi, yaitu open loop, closed loop SMC gain konstan, dan closed loop SMC adaptive gain. Hasil pengujian open loop menunjukkan pelepasan rudal menimbulkan momen roll impulsif yang menyebabkan sudut roll menyimpang hingga sekitar 1 rad dan sistem gagal mempertahankan beberapa variabel keadaan pada titik operasinya. Penerapan SMC gain konstan menurunkan deviasi maksimum sudut roll dan pitch masing-masing menjadi 0,4321 rad dan 0,0671 rad, dengan mean absolute error (MAE) sebesar 0,1028 dan 0,01248. Mekanisme adaptive gain lebih lanjut menurunkan MAE sudut roll dan pitch menjadi 0,000444 dan $2,176 \times 10^{-5}$ disertai waktu pemulihan yang lebih cepat, meskipun kecenderungan chattering pada sinyal kendali roll meningkat (RMS 1,8966 dan peak-to-peak 6,9180) sedangkan pada pitch justru menurun (RMS 0,5322 dan peak-to-peak 1,6069) dibandingkan SMC gain konstan. Kestabilan posisi translasi dan orientasi yaw belum sepenuhnya terjaga karena pengendali hanya dirancang untuk mengendalikan dinamika roll dan pitch.
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Missile release from an Unmanned Aerial Vehicle (UAV) of the hybrid quadplane type causes changes in mass, moment of inertia, and center of gravity shift that disturb flight stability, particularly on the roll and pitch axes during hover condition. This research designs an adaptive gain-based Sliding Mode Control (SMC) system to maintain the attitude stability of a Hybrid Quadplane referring to the Kestrel MK II UAV after the release of two Raytheon Pike 20 missiles. Simulations were conducted in MATLAB/Simulink by comparing three conditions: open loop, closed loop SMC with constant gain, and closed loop SMC with adaptive gain. The open loop test results show that missile release causes an impulsive roll moment that leads to a roll angle deviation of up to 1 rad and a failure to maintain several state variables during operation. The application of SMC with constant gain reduces the maximum deviation of the roll and pitch angles to 0.4321 rad and 0.0671 rad respectively, with a mean absolute error (MAE) of 0.1028 and 0.01248. The adaptive gain mechanism further reduces the roll and pitch MAE to 0.000444 and 0.0060, along with a faster recovery time, despite an increased tendency of chattering in the roll control signal (RMS 1.8966 and peak-to-peak 6.9180) while the pitch RMS decreased to 0.5322 with a peak-to-peak of 1.6069) compared to constant gain SMC. Translational and yaw orientation position stability was not fully maintained since the control system is designed only to handle roll and pitch dynamics.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Adaptive Gain, chattering, pelepasan rudal, quadplane, sliding mode control,daptive Gain, chattering, missile release, quadplane, sliding mode control,
Subjects:	U Military Science > UG1242 Drone aircraft--Control systems. (unmanned vehicle)
Divisions:	Faculty of Industrial Technology and Systems Engineering (INDSYS) > Physics Engineering > 30201-(S1) Undergraduate Thesis
Depositing User:	Jamil Ihsan
Date Deposited:	04 Aug 2026 02:32
Last Modified:	04 Aug 2026 02:32
URI:	http://repository.its.ac.id/id/eprint/142461

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