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ITS » Undergraduate Theses » Telekomunikasi Multimedia
Posted by aprill@is.its.ac.id at 15/02/2016 09:58:58  •  717 Views


PERANCANGAN DAN IMPLEMENTASI KONTROLER PID OPTIMAL DAN LINEAR QUADRATIC TRACKING PADA UAV QUADCOPTER UNTUK WAYPOINT TRACKING

DESIGN AND IMPLEMENTATION OF OPTIMAL PID CONTROLLER AND LINEAR QUADRATIC TRACKING ON QUADCOPTER UAV FOR WAYPOINT TRACKING

Author :
KUSUMAWATIE, KRISTINA INDAH ( 2211106039 )




ABSTRAK

Gerak lateral merupakan gerak quadcopter secara horizontal pada ketinggian atau gerak translasi gerakan ini sangat vital untuk memenuhi kebutuhan quadcopter dalam mencapai way-to-way point yang telah ditentukan sehingga diperlukan kontroler untuk menstabilkannya. Sistem kontrol yang digunakan pada quadcopter adalah kontroler PID optimal untuk mengatur gerak rotasi roll dan pitch serta kontroler LQT untuk mengatur gerak translasi sumbu X dan sumbu Y sehingga penentuan parameter-parameter harus tepat agar didapatkan kestabilan yang diinginkan saat melakukan gerak lateral. Nilai parameter yang didapatkan dari hasil tuning terstruktur pada simulasi kontroler PID optimal roll dan pitch dengan nilai matriks Q diag10000 1 1000 1 R1 sedangkan pada kontrol LQT sumbu X dan Y diperoleh Q1000 R0.3. Pada hasil implementasi gerak lateral sistem dapat bergerak stabil sesuai dengan path tracking yang telah ditentukan.


ABSTRACT

Lateral motion is a motion quadcopter horizontally at a height of or translational motion the motion is very vital to meet the needs of the way in achieving quadcopter-to-point specified way so that the controller needed to stabilize it. The control system used on the quadcopter is an optimal PID controller to set the roll and pitch rotational motion and LQT controller to set the translational motion of the X axis and Y axis so that the determination of the parameters must be precise in order to obtained the desired stability while performing lateral motion. Parameter values obtained from the simulation results of a structured tuning PID controller optimized roll and pitch with the value of the matrix Q diag 10000 1 1000 1 R 1 LQT control while the on the X axis and Y obtained Q 1000 R 0.3. On the results of the implementation of lateral motion the system can moving according with the stable tracking predetermined path.



KeywordsQuadcopter; PID optimal; Roll; Pitch; LQT; Lateral
 
Subject:  Kontroler PID; sistem kontrol linier
Contributor
  1. Ir. Katjuk Astrowulan, MSEE
  2. Ir. Rusdhianto Effendi A.K., MT.
Date Create: 15/02/2016
Type: Text
Format: pdf
Language: Indonesian
Identifier: ITS-Undergraduate-22001150008237
Collection ID: 22001150008237
Call Number: RSE 629.831 2 Kus p


Source
Undergraduate Theses of Electrical Engineering, RSE 629.831 2 Kus p, 2016

Coverage
ITS Community

Rights
Copyright @2016 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-Undergraduate-40064-2211106023-abstract_id.pdf - 176 KB
  2.  ITS-Undergraduate-40064-2211106023-abstract_en.pdf - 226 KB
  3.  ITS-Undergraduate-40064-2211106023-conclusion.pdf - 513 KB




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