Pendaratan Otomatis Quadcopter Ar Drone Menggunakan Metode Linear Quadratic Regulator (LQR)

Gaol, Amroy Casro Lumban (2017) Pendaratan Otomatis Quadcopter Ar Drone Menggunakan Metode Linear Quadratic Regulator (LQR). Sarjana thesis, Universitas Brawijaya.

Abstract

Saat ini UAV(Unmanned Aerial Vehicle) jenis quadcopter menjadi salah satu teknologi mobile robot yang banyak digunakan oleh manusia, baik pada penggunaan komersial maupun digunakan sebagai objek untuk pengembangan teknologi quadcopter. UAV jenis quadcopter menjadi salah satu UAV yang paling banyak digunakan karena kemampuannya bermanuver ke segala arah, dan fleksibel. Salah satu hal yang menarik untuk dikembangkan pada quadcopter adalah kemampuan untuk melakukan pendaratan dengan aman, hal ini bertujuan untuk mengurangi risiko kerusakan fisik pada quadcopter. Penelitian ini adalah untuk membuat sistem pendaratan quadcopter menggunakan algoritma LQR (Linear Quadratic Regulator), metode ini merupakan sistem kontrol optimal yang memperoleh sinyal feedback untuk sistem linear dengan meminimalkan cost function kuadratik. Pada penelitian ini LQR digunakan untuk melakukan kontrol attitude dan kontrol sudut

English Abstract

Currently quadcopter, one type of UAV (Unmanned Aerial vehicle), became one of the mobile robot technology that is widely used by humans, it’s used for commercial and development of quadcopter purpose. The reason quadcopter is widely used because of its ability to maneuver in all direction and flexibility. One of the interesting thinks to develop is safe landing problem of quadcopter, due a safe landing can reduce the risk of physical damage of the quadcopter. The purpose of this research was to implement LQR, Linear Quadratic Regulator method, for safe landing the quadcopter, this method is an optimal control that produce feedback gains for linear system by minimize quadratic cost function. LQR approach is used to control the attitudes and altitude to perform quadcopter landing that are implemented in ROS, Robot Operating System. The result of this research is to produce quadcopter landing method by knowing the settling time. Landing test was performed with variety of altitude i.e. at 1m, 1.5m, 2m, 2.5m, and 3m, and based on the result of landing test, the average of settling time for landing safely is 1.75 second for increment one meter of altitude.

Item Type:	Thesis (Sarjana)
Identification Number:	SKR/FTIK/2017/258/051705064
Uncontrolled Keywords:	UAV, Quadcopter, ROS, LQR , Pendaratan
Subjects:	000 Computer science, information and general works > 005 Computer programming, programs, data > 005.1 Programming
Divisions:	Fakultas Ilmu Komputer > Teknik Informatika
Depositing User:	Yusuf Dwi N.
Date Deposited:	11 Jul 2017 03:55
Last Modified:	16 Oct 2020 06:38
URI:	http://repository.ub.ac.id/id/eprint/117

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