Hasanah, Auliyaul (2018) Sistem Kontrol pada Mini Quadrotor Menggunakan Metode Backstepping dengan Lintasan Frenet-Serret. Undergraduate thesis, Institut Teknologi Sepuluh Nopember.
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Abstract
Quadrotor merupakan salah satu jenis pesawat tanpa awak yang menggunakan empat buah rotor dan dapat dikendalikan jarak jauh. Quadrotor memiliki empat gerak dasar yang dapat mempengaruhi gerak quadrotor saat terbang, yaitu gerak sudur roll, gerak sudut pitch, gerak sudut yaw dan gerak altitude. Selain itu, quadrotor dapat menjadi sulit untuk terbang tanpa adanya sistem kontrol karena memiliki mekanisme sistem kompleks yang tidak stabil. Sistem kontrol yang digunakan pada quadrotor adalah kontrol backstepping agar dapat mengatasi masalah kestabilan saat terbang. Langkah pertama yang dilakukan adalah mengkaji penurunan persamaan model dinamik gerak rotasi dan translasi pada quadrotor. Langkah selanjutnya dilakukan perancangan sistem kontrol backstepping dengan lintasan Frenet-Serret. Setelah sistem kontrol backstepping diterapkan, maka dilakukan pengamatan hasil simulasi untuk mendapatkan respon keluaran sistem. Hasil simulasi menunjukkan bahwa respon masingmasing sudut stabil pada sudut 0.2 rad dengan waktu yang berbeda-beda. Respon ketinggian (z), posisi x dan posisi y juga stabil pada jarak 1 meter dari titik nol.
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Quadrotor is typical Unmanned Aerial Vehicle (UAV) plane that uses four rotor and can be controlled remotely. Quadrotor has four basic motions that can affect the motion of the quadrotor when flying, is roll angle motion, pitch angle motion, yaw angle motion and altitude motion. In addition, quadrotor can be difficult to fly without a control system because it has an unstable complex system mechanism. The control system used in quadrotor is backstepping control in order to overcome stability problems when flying. The first step is reviewing the mathematical model's equation of dynamical rotation and translation motion in quadrotor. The next step is to designing the backstepping control system with the Frenet-Serret trajectory. After the backstepping control system is applied, simulation results are observed to obtain the system output response. The simulation results shows that the response of each angle is stable at an angle of 0.2 rad with different time. The hight(z) response, x and y position are also stable at a distance of 1 meter from the zero point.
| Item Type: | Thesis (Undergraduate) |
|---|---|
| Additional Information: | RSMa 515.642 Has s-1 3100018074734 |
| Uncontrolled Keywords: | Quadrotor, Gerak Translasi dan Rotasi, Kontrol Backstepping |
| Subjects: | Q Science > QA Mathematics T Technology > T Technology (General) U Military Science > UG1242 Drone aircraft--Control systems. (unmanned vehicle) |
| Divisions: | Faculty of Engineering, Science and Mathematics > School of Mathematics |
| Depositing User: | Auliyaul Hasanah |
| Date Deposited: | 25 Jan 2018 07:18 |
| Last Modified: | 21 Sep 2020 04:24 |
| URI: | http://repository.its.ac.id/id/eprint/50645 |
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