PERANCANGAN SISTEM PENGATURAN ADAPTIF UNTUK TRAJECTORY TRACKING QUADCOPTER PADA GERAK CRUISE

LEIHITU, BENAVERD RIZANDA PUTRA (2017) PERANCANGAN SISTEM PENGATURAN ADAPTIF UNTUK TRAJECTORY TRACKING QUADCOPTER PADA GERAK CRUISE. Undergraduate thesis, Institut Teknologi Sepuluh Nopember.

[img]
Preview
Text
2212100157-Undergraduate_Theses.pdf - Published Version

Download (3MB) | Preview

Abstract

Gerakan cruise pada quadcopter dapat dilakukan bila quadcopter memiliki kestabilan dalam melakukan gerak rotasi dan gerak translasi. Dalam simulasi diusahakan respon gerak rotasi lebih cepat daripada respon gerak translasi. Pada quadcopter ini, perubahan sudut pitch mempengaruhi posisi quadcopter pada sumbu X, sedangkan perubahan sudut roll mempengaruhi posisi quadcopter pada posisi Y. Selain itu quadcopter memiliki system yang non-linear dan memiliki kestabilan yang rentan terhadap gangguan. Pada penelitian Tugas Akhir ini dirancang pengendalian gerak cruise quadcopter menggunakan kontroler Proportioinal Derivative (PD) untuk gerak rotasi dan kontroler PD Adaptif untuk pengendalian gerak translasi. Untuk mendapatkan parameter dari PD dan PD Adaptif digunakan metode MIT Procedures. ========================================================================================================================== Quadcopter’s cruising movement requires the stability of its rotational and translational movement. It also requires the respond of rotational movement to be rapider than the respond of translational movement. Quadcopter’s changes at pitch angle is affecting its position at axis-X, and quadcopter’s changes at row angle is affecting its position at axis-Y. Quadcopter is a non-linear plant, so it is very susceptible to be affected by noise or disturbances. The purpose of this final project is to make a new controller design for quadcopter’s trajectory tracking for cruising movement. This final projet uses proportional derivative (PD) controller for the rotational movement and adaptive PD controller for the translational movement. The parameters of both PD and adaptive PD are determined through MIT Procedures Method.

Item Type: Thesis (Undergraduate)
Uncontrolled Keywords: Quadcopter, Cruise, Proportional Derivative, Adaptive Control
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering
T Technology > TL Motor vehicles. Aeronautics. Astronautics
Divisions: Faculty of Industrial Technology > Electrical Engineering > 20201-(S1) Undergraduate Thesis
Depositing User: BENAVERD RIZANDA PUTRA LEIHITU
Date Deposited: 24 Jan 2017 07:40
Last Modified: 06 Mar 2019 04:03
URI: https://repository.its.ac.id/id/eprint/2980

Actions (login required)

View Item View Item