| Abstrak/Abstract |
The primary control issue on Unmanned
Aerial Vehicle (UAV) is to control the rotation motion in the
form of pitch, roll, and yaw. These rotational movements are
used for various flight phases. The flight phases are at least
divided into 3, consisting of taking off, cruising, and landing
phases. The landing phase is one of the most critical phases.
If the flight control of a UAV in this phase is not optimal, then
it can crash. The landing phase control system in this
research uses the Linear Quadratic Regulator (LQR)
method. This method works on a full-state feedback control
system. This control system will produce style and torque,
both of which will be converted to PWM (Pulse Width
Modulation) signals and the servos deflection angle values.
The PWM signals play a role in regulating how fast the
brushless motor rotates. The control system is used to
maintain the stability of the UAV upon landing so that the
UAV does not experience undesirable things. Landing phase
testing results show that the control system has been able to
land the UAV with an optimal control response. |
