TUNING PARAMETER LINEAR QUADRATIC TRACKING MENGGUNAKAN ALGORITMA GENETIKA UNTUK PENGENDALIAN GERAK LATERAL QUADCOPTER

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

Abstract


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

Keywords


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

References


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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


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