Arrosida, Hanum (2015) Perancangan Nonlinear Decoupling Dan Nonlinear PD Untuk Kestabilan Dan Pengendalian Gerak Cruise Pada Quadrotor. Masters thesis, Institut Technology Sepuluh Nopember.
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Abstract
Quadrotor sering digunakan untuk menyelesaikan berbagai misi yang
berkaitan dengan pengawasan seperti monitoring wilayah, pemetaan wilayah,
pencarian orang hilang, dan keperluan lain. Quadrotor merupakan sistem nonlinear
dengan multiple input multiple output dan sistem dengan persoalan kestabilan yang
rentan terhadap gangguan eksternal. Karakteristik ini menyebabkan adanya kesulitan
dalam pengendalian gerak cruise quadrotor secara otomatis. Metode nonlinear
decoupling digunakan untuk menghilangkan interaksi kontrol lain pada gerak rotasi,
sehingga dapat dilakukan pengendalian secara independen pada sudut roll, pitch dan
yaw, dengan demikian kestabilan pada gerak cruise dapat tercapai dengan baik. Metode
kontrol nonlinear PD digunakan untuk pengendalian gerak translasi pada sumbu x dan
y dengan dinamika gerak nonlinear karena pengaruh sudut rotasi. Hasil simulasi
menunjukkan bahwa metode yang digunakan mampu menghilangkan interaksi kontrol
pada sudut roll, pitch dan yaw sehingga menjadi sistem single input single output dan
gerak translasi quadrotor pada sumbu x dan y mampu mencapai trayektori yang
diharapkan
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Quadrotor is often used to accomplish various missions related to
surveillance, territory mapping, search and rescue, and other purposes. Quadrotor is
a nonlinear system with multiple input multiple output and has stability issue due to
external disturbance. These characteristics lead to difficulty in controlling cruise
motion of quadrotor automatically. Nonlinear decoupling method is used to eliminate
the interaction of other control on rotational motion, so the roll, pitch, and yaw angle
can be controlled independently and the stability of the cruise motion can be better.
Nonlinear PD controller is used to control the translational motion in x and y axis with
nonlinear dynamics because of the influence the rotational angle. Simulation result
show that the proposed method can eliminate the control interaction of roll, pitch and
yaw angle as if single input single output system and translational motion on x and y
axis can achieve the expected trajectory.
| Item Type: | Thesis (Masters) |
|---|---|
| Additional Information: | RTE 629.895 Arr p |
| Uncontrolled Keywords: | Cruise motion, Nonlinear system, Multiple Input Multiple Output, Nonlinear Decoupling, Nonlinear PD, Quadrotor |
| Subjects: | T Technology > TK Electrical engineering. Electronics Nuclear engineering |
| Divisions: | Faculty of Electrical Technology > Electrical Engineering > 20101-(S2) Master Thesis |
| Depositing User: | Mr. Tondo Indra Nyata |
| Date Deposited: | 06 Nov 2018 04:02 |
| Last Modified: | 06 Nov 2018 04:02 |
| URI: | http://repository.its.ac.id/id/eprint/59939 |
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