Farid Choirul Akbar, Rusdhianto Effendie A.K, Eka Iskandar
Submission Date: 2016-01-22 14:01:54
Accepted Date: 2016-04-28 09:31:26


Gerakan lateral quadcopter dapat dilakukan apabila quadcopter dapat menjaga kestabilan pada saat hover, sehingga quadcopter dapat melakukan gerak rotasi. Perubahan sudut roll akan mengakibatkan gerak translasi pada sumbu Y, sedangkan perubahan sudut pitch akan mengakibatkan gerak translasi pada sumbu X. Disisi lain, quadcopter merupakan suatu sistem non-linear dan memiliki kestabilan yang rendah sehingga rentan terhadap gangguan. Pada penelitian Tugas Akhir ini dirancang pengendalian gerak rotasi quadcopter menggunakan Linear Quadratic Regulator (LQR) dan Linear Quadratic Tracking (LQT) untuk pengendalian gerak translasi. Untuk mendapatkan parameter dari LQT digunakan Algoritma Genetika (GA). Hasil tuning GA yang digunakan pada LQT memiliki nilai Qx 700,1884, nilai Qy 700,6315, nilai Rx 0,1568, dan  nilai Ry 0,1579. Respon LQT tersebut memiliki RMSE pada sumbu X dan sumbu Y sebesar 1,99 % serta memiliki time lagging 0,35 detik. Dengan hasil tersebut quadcopter mampu men-tracking trajectory berbentuk segitigaTekni


Quadcopter; lateral; Linear Quadratic Regulator; Linear Quadratic Tracking; Algoritma Genetika


Haider A. F. Almurib, Premeela T. Nathan, and Nandha Kumar, “Control and Path Planning of Quadrotor Aerial Vehicles for Search and Rescue”, SICA Annual Conference, 2011

Tommaso Bresciani, “Modelling, Identification and Control of a Quadcopter Helicopter”, thesis, Department of Automatic Control Lund University, October 2008.

Argentin, L.M dkk, “PID, LQR, and LQR-PID on a Quadcopter Platform”, IEEE Transaction on Aerospace and Electrical Systems, 2013

Naidu, Subbaram D, “Optimal Control Systems”, CRC Press Idaho, Ch.3-4, 2002

M. Ashari and M. Purnomo, "Linear Quadratic Regulator Design For Modular Matrix Converter Using Genetic Algorithm," IEEE Control Systems Magazines, pp. 175-179, 2011

Vishal, Ohri Jyoti, “GA Tuned LQR and PID Controller for Aircraft Pitch Control,” IEEE 6th India International Conference on Power Electronics (IICPE), 2014

Full Text: PDF

CC Licencing

Authors who publish with this journal agree to the following terms:
- Authors retain copyright and grant the journal right of first publication with the work simultaneously licensed under a Creative Commons Attribution License that allows others to share the work with an acknowledgement of the work's authorship and initial publication in this journal.
- Authors are able to enter into separate, additional contractual arrangements for the non-exclusive distribution of the journal's published version of the work (e.g., post it to an institutional repository or publish it in a book), with an acknowledgement of its initial publication in this journal.
- Authors are permitted and encouraged to post their work online (e.g., in institutional repositories or on their website) prior to and during the submission process, as it can lead to productive exchanges, as well as earlier and greater citation of published work (See The Effect of Open Access).


  • There are currently no refbacks.

Creative Commons License
Jurnal Teknik ITS by Lembaga Penelitian dan Pengabdian Kepada Masyarakat, LPPM-ITS is licensed under a Creative Commons Attribution-ShareAlike 4.0 International License.
Based on a work at http://ejurnal.its.ac.id/index.php/teknik.
Statistik Pengunjung