SASONGKO, HANIEF (2017) PERANCANGAN KONTROLER NEUROFUZZY UNTUK TELUSUR TRAJEKTORI PADA UAV QUADCOPTER. Undergraduate thesis, INSTITUT TEKNOLOGI SEPULUH NOPEMBER.
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Abstract
Quadcopter merupakan salah satu jenis Unmanned Aerial Vehicle (UAV) atau pesawat tanpa awak yang memiliki empat buah motor propeller sebagai penggeraknya. Permasalahan ketepatan dalam melakukan gerak lateral menelusuri trajektori yang diinginkan merupakan hal yang cukup penting dalam pengembangan Quadcopter.
Berdasarkan permasalahan tersebut, dalam tugas akhir ini dirancang kontroler Neurofuzzy untuk meminimalisir ketidaktepatan saat Quadcopter menelusuri trajektori secara otomatis. Desain kontroler Neurofuzzy pada tugas akhir ini menggunakan metode mamdani. Kontroler Neurofuzzy digunakan untuk telusur trajektori Quadcopter mengikuti sinyal referensi, sedangkan kontroler PD digunakan untuk mengatur kestabilan Quadcopter.
Hasil pengujian kontroler menunjukkan bahwa sistem hasil desain dapat mengatur gerak Quadcopter sesuai dengan lintasannya dengan nilai error lintasan pada sumbu X sebesar ±0.01 m dengan nilai RMSE 0.625 dan error lintasan pada sumbu Y sebesar ±0.01 m dengan nilai RMSE 0.596. Sedangkan untuk pengujian dengan noise 25%, menghasilkan gerak Quadcopter dengan error lintasan pada sumbu X sebesar ±0.05 m dengan nilai RMSE 0.638 dan error lintasan pada sumbu Y sebesar ±0.05 m dengan nilai RMSE 0.613.
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Quadcopter is a type of Unmanned Aerial Vehicle (UAV), or drone which has four piece of propeller motors as their driving force. Problems accuracy in performing lateral movements searching the desired trajectory is quite important in the development of Quadcopter.
Based on these problems, in this thesis Neurofuzzy controller designed to minimize inaccuracies when Quadcopter automatically discover trajectory. Neurofuzzy controller design in this thesis using mamdani methods. Neurofuzzy controller is used to search the trajectory Quadcopter follow the reference signal, while the PD controller is used to regulate the stability of Quadcopter.
The test results show that the system controller can adjust the design results in accordance with the trajectory of motion Quadcopter with the track error value on the X axis ± 0.01 m with RMSE values 0.625 and a track error on the Y axis ± 0.01 m with RMSE values 0.596. As for noise testing by 25%, resulting in motion Quadcopter with the track error on the X axis ± 0.05 m with RMSE values 0638 and error trajectory on the Y axis ± 0.05 m with RMSE value 0613.
| Item Type: | Thesis (Undergraduate) |
|---|---|
| Uncontrolled Keywords: | Quadcopter, Telusur Trajektori, Metode Mamdani, Kontroler Neurofuzzy, Quadcopter, Trajectory Keeping, Mamdani Method, Neurofuzzy Controller. |
| Subjects: | T Technology > T Technology (General) T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL521.3 Automatic Control Z Bibliography. Library Science. Information Resources > Z665 Library Science. Information Science |
| Divisions: | Faculty of Industrial Technology > Electrical Engineering > 20201-(S1) Undergraduate Thesis |
| Depositing User: | HANIEF SASONGKO - |
| Date Deposited: | 23 Feb 2017 08:19 |
| Last Modified: | 05 Mar 2019 03:12 |
| URI: | http://repository.its.ac.id/id/eprint/1564 |
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