Hamdani, Chalidia Nurin (2017) Perancangan Autonomous VTOL pada Quadcopter dengan Menggunakan Feedback Linearization dan Fuzzy Takagi-Sugeno. Masters thesis, Institut Teknologi Sepuluh Nopember.
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Abstract
Quadcopter merupakan salah satu jenis Unmanned Aerial Vehicle (UAV) yang banyak digunakan sebagai objek penelitian saat ini. Dengan empat rotor sebagai penggerak utama, quadcopter mampu bergerak secara rotasional dan translasional. Kedua sistem gerak ini secara matematis tergolong nonlinier dan tidak stabil. Dalam penelitian ini, dirancang autonomous Vertical Take-Off and Landing (VTOL) dengan membagi sistem quadcopter berdasarkan sistem geraknya, yaitu sistem gerak rotasi dan sistem gerak translasi. Masing-masing sistem gerak dikendalikan dengan kontroler yang berbeda.
Sebagai inner-loop dalam sistem quadcopter,sistem gerak rotasi dituntut memilikisettling timelebih cepat dari dari sistem gerak translasi yang merupakan outer loop.Input-state feedback linearizationdigunakan untuk mengatasi permasalahan tersebut.Kontroler dirancang melalui pendekatan model referensi yang diperoleh dengan mengatur letak pole dominan yang dinginkan. Dengan persamaan Input-state feedback linearizationyang diperoleh, sifat nonlineritas dan interaksi dalam sistem dapat dieliminasi.
Permasalahan tracking dalam sistem gerak translasi diatasi dengan menggunakan fuzzy Takagi-Sugeno. Sistem direpresentasikan kembali sebagai aturan fuzzy dengan titik operasi sebagai variabel premis dan model linier sebagai konsekuen. Dengan variabel premis yang sama, kontroler dirancang dengan skema Parallel Distributed Compensation (PDC). Nilai penguat kontroler yang mampu menjamin kestabilan sistem dan memenuhi performa H∞ diperoleh dengan bantuan Linear Matrix Inequality (LMI).
Hasil simulasi dengan MATLAB menunjukkan bahwa sistem kontrol gerak rotasi yang dirancang mampu menstabilkan sudut roll, pitch dan yaw di 0 rad. Kontrol trackingpada altitude mampu menjamin kestabilan sistem dan membuat respon altitudemengikuti sinyal referensi yang diberikan. Selain itu, sistem kontrol juga mampu mengatasi gangguan yang diberikan dengan nilai L2gain sebesar 0.000539. Artinya, L2gain lebih kecil dari level pelemahan yang ditentukan yaitu sebesar 0.003. Hal ini menunjukkan bahwa performa H∞ telah terpenuhi.
===========================================================================================
Quadcopter is a
n
Unmanned Aerial Vehicle (UAV) that is frequently used
as an object of study now. Its
four rotors that is the main drive, let quadcopter move
in rotation and translation. Both of this motion systems are unstable dan
matematically nonlinear. In this study, we have designed an a
utonomous
Vertical
Take
-
Off and Landing
(VTOL) by dividing quadco
pter system based on its motion
systems, i.e. rotation motion system and translation motion system. Each motion
system is controlled by different controller.
As the inner
-
loop
in quadcopter system, rotation motion system is forced
to have a settling time
t
hat is faster then the translation motion system as the outer
loop
.
Input
-
state feedback linearization is used
tosolve
this problem
. Reference
models are obtained by set the dominant pole. Using state feedback equation that
was obtained, nonlinearity and
interaction inside the system can be eliminated.
Tracking problem on translation motion system is solved by using fuzzy
Takagi
-
Sugeno. System is represented by fuzzy rules with operating points as
premise variable and linear models as consequent. By using
the same premise
variable,
the controller is designed based on Parallel Distributed Compensation
(PDC) scheme. The appropriate controller gain which can
stabilize system and meet
the H
∞
performance is obtained with the help of Linear Matrix Inequality (LMI).
Simulation results with MATLAB show that the control system have been
designed can stabilize
rotation motion system at 0 rad. Altitude tracking contro
l
can
make the semi
-
global stabil system guarantedand altitude response is able
to track
the given reference signal. In addition, the control system is able to attenuate the
given bounded disturbance signal with
L
2
gain
is about 0.000539
. Its mean
L
2
gain
i
s less than the prescibed
attenuation level which is 0.003
.
This shows that the
H
∞
performance is met.
| Item Type: | Thesis (Masters) |
|---|---|
| Uncontrolled Keywords: | Input-state feedback linearization; fuzzy T-S; quadcopter; vtol. |
| Subjects: | T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL521.3 Automatic Control |
| Divisions: | Faculty of Industrial Technology > Electrical Engineering > 20101-(S2) Master Thesis |
| Depositing User: | Chalidia H Chalidia Hamdani |
| Date Deposited: | 11 Aug 2017 08:08 |
| Last Modified: | 05 Mar 2019 06:30 |
| URI: | http://repository.its.ac.id/id/eprint/42960 |
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