Desain Kendali Modified Model Predictive Control (M-MPC) Pada Gerak Lateral-Direksional Pesawat Tanpa Awak

Dewi, Kristian Dwi Ratna (2021) Desain Kendali Modified Model Predictive Control (M-MPC) Pada Gerak Lateral-Direksional Pesawat Tanpa Awak. Undergraduate thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Perkembangan teknologi yang pesat dapat menjadikan sumber daya dan aktivitas menjadi lebih efisien. Salah satu penerapan teknologi adalah adanya sistem autonomous. Sistem autonomous dapat diterapkan pada pesawat tanpa awak atau yang dikenal dengan Unmanned Aerial Vehicle (UAV). Gerak lateral-direksional merupakan gerak yang memungkinkan pesawat tanpa awak bergerak ke samping atau belok secara mendatar. Kontrol yang berpengaruh pada respon gerak lateral-direksional yaitu defleksi aileron. Aileron berfungsi untuk mengontrol sudut roll pada pesawat tanpa awak. Salah satu pesawat tanpa awak yang dikembangkan LAPAN adalah LAPAN Surveilance-05 (LSU-05). Pada penelitian ini akan dirancang kendali gerak lateral-direksional pesawat LSU-05 dengan menggunakan metode Modified Model Predictive Control (M-MPC), dengan variabel yang dikontrol adalah sudut roll pada pesawat LSU-05. Simulasi dilakukan dengan beberapa nilai prediksi horizon yang berbeda yaitu 2, 5, dan 10. Dari hasil simulasi M-MPC keluaran sudut roll mendekati referensi yang diberikan namun belum dapat menghilangkan pengaruh gangguan. Dari hasil simulasi didapatkan nilai MAE (Mean Absolute Error) pada M-MPC lebih kecil jika dibandingkan dengan MPC untuk nilai prediksi horizon yang sama yang berarti metode M-MPC lebih baik dalam meminimumkan gangguan daripada MPC. ================================================================================================================== Rapid technological developments can make resources and activities more efficient. One application of technology is the existence of an autonomous system. Autonomous systems can be applied to unmanned aircraft, known as Unmanned Aerial Vehicle (UAV). Lateral directional motion is a motion that allows the UAV to move sideways or turn horizontally. The control that affects the lateral-directional motion response is aileron deflection. The aileron is used to control the roll angle of the UAV. One of the unmanned aircraft developed by LAPAN is LAPAN Surveillance-05 (LSU-05). In this study, the lateral-directional motion control of the LSU-05 aircraft will be designed using the Modified Model Predictive Control (M-MPC) method, with the variable being controlled is the roll angle on the LSU-05 aircraft. The simulation is carried out with several different prediction horizon values 2, 5, and 10. From the results of the M-MPC simulation, the output or roll angle is close to the given reference but has not been able to eliminate the effect of disturbance. Based on the simulation results, the MAE value (Mean Absolute Error) in M-MPC is smaller than MPC for the same prediction horizon value, which means that the M-MPC method is better at minimizing disturbance than MPC.

Item Type: Thesis (Undergraduate)
Uncontrolled Keywords: gerak lateral-direksional, Modified Model Predictive Control (M-MPC), Pesawat LSU-05, sudut roll, lateral-directional motion, LSU-05 aircraft, roll angle
Subjects: Q Science > Q Science (General) > Q180.55.M38 Mathematical models
Q Science > QA Mathematics
T Technology > TJ Mechanical engineering and machinery > TJ217.6 Predictive Control
U Military Science > U Military Science (General) > UG Military Engineering > UG1242.D7 Unmanned aerial vehicles. Drone aircraft
Divisions: Faculty of Mathematics, Computation, and Data Science > Mathematics > 44201-(S1) Undergraduate Thesis
Depositing User: Kristian Dwi Ratna Dewi
Date Deposited: 03 Sep 2021 02:36
Last Modified: 03 Sep 2021 02:36
URI: https://repository.its.ac.id/id/eprint/89998

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