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ITS » Master Theses » Rekayasa Konversi Energi - S2
Posted by dee@its.ac.id at 10/11/2014 16:11:26  •  1014 Views


WAYPOINT TRACKING CONTROL PADA MICRO QUADROTOR UNMANNED AERIAL VEHICLE UAV MENGGUNAKAN BLOCK BACKSTEPPING CONTROL DENGAN ADAPTIVE PARAMETER APPROXIMATION

WAYPOINT TRACKING CONTROL ON MICRO QUADROTOR UNMANNED AERIAL VEHICLE UAV USING BLOCK BACKSTEPPING CONTROL WITH ADAPTIVE PARAMETER APPROXIMATION

Author :
KHOZIN, MOKHAMAD ( 2212202006 )




ABSTRAK

Micro Quadrotor Unmanned Aerial Vehicle UAV atau biasa disebut dengan micro quadrotor merupakan nonlinear system multiple input multiple output system serta sistem dengan persoalan kestabilan yang menyebabkan sangat rentan terhadap gangguan eksternal. Karakteristik ini menyebabkan adanya kesulitan dalam pengendalian micro quadrotor secara otomatis untuk melakukan waypoint tracking. Block backstepping control sebagai metode kontrol nonlinear telah digunakan secara luas pada micro quadrotor. Akan tetapi block backstepping control membutuhkan model dinamik yang akurat serta tidak cukup mampu mengatasi adanya gangguan eksternal. Pada penelitian ini diajukan sebuah metode kontrol block backstepping control dengan adaptive parameter approximation untuk menghasilkan sistem kontrol terbang yang lebih adaptif. Berdasarkan hasil pengujian metode kontrol yang diajukan mampu mengatasi adanya gangguan eksternal serta dapat meningkatkan stability dan robustness dari sistem.


ABSTRACT

Micro quadrotor is a nonlinear system multiple input and multiple output system and has stability problem so that susceptible toward an external disturbance. These characteristics lead to the difficulty on controlling micro quadrotor to do waypoint tracking automatically. Block backstepping control is a nonlinear control method which has been used in micro quadrotor widely yet it requires an accurate dynamic model. Besides its not quite able to overcome external disturbance. This research used block backstepping control method with adaptive parameter approximation to build a flight control system which is more adaptive. Based on simulation results the control method proposed is able to overcome external disturbance and could increase the stability and robustness of the system.



KeywordsMicro Quadrotor; Waypoint Tracking; Nonlinear system; MIMO system; Block Backstepping Control; Adaptive Parameter Approximation
 
Subject:  Pengawasan komputer
Contributor
  1. DR. Trihastuti Agustinah, ST., MT
  2. Ir. Rusdhianto Effendi AK, MT
Date Create: 13/01/2014
Type: Text
Format: pdf
Language: Indonesian
Identifier: ITS-Master-32103140000828
Collection ID: 32103140000828
Call Number: RTE 006.3 Kho w


Source
Master Thesis of Electrical Engineering, RTE 006.3 Kho w, 2014

Coverage
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Rights
Copyright @2014 by ITS Library. This publication is protected by copyright and per obtained from the ITS Library prior to any prohibited reproduction, storage in a re transmission in any form or by any means, electronic, mechanical, photocopying, reco For information regarding permission(s), write to ITS Library




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  1.  ITS-Master-33444-2212202006-Abstract_en.pdf - 383 KB
  2.  ITS-Master-33444-2212202006-Conclusion.pdf - 407 KB




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