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ITS » Master Theses » Rekayasa Konversi Energi - S2 Posted by dee@its.ac.id at 10/11/2014 16:11:26 • 1079 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.
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