| Penulis/Author |
Dr. Ir. Fahmizal, S.T., M.Sc. (1); Prof. Ir. Hanung Adi Nugroho, S.T., M.Eng., Ph.D., IPM., SMIEEE. (2) ; Dr.Eng. Ir. Adha Imam Cahyadi, S.T., M.Eng., IPM. (3); Dr.Eng. Ir. Igi Ardiyanto, S.T., M.Eng. (4) |
| Abstrak/Abstract |
The design of a Linear Quadratic (LQ) - Servo for trajectory tracking control of a
Quadrotor is presented in this work. In this study, Newton's and Euler's laws are utilized to develop
a mathematical model of how the movement of a Quadrotor is simulated. We get a linearized version
of the model, so we can make a linear controller called LQ-Servo. The success of LQ-Servo control
was tested in two scenarios, the first trajectory tracking at a circular position and the second with the
position of the trajectory number ”8”. The simulation results show that the proposed LQ-Servo
controller successfully overcame inertial disturbances when the UAV Bicopter performs trajectory
tracking. Based on the results, it is evident that the LQ-Servo control can still maintain Quadrotor
trajectory tracking with only a slight increase in RMSE when subjected to inertial disturbances.
Finally, the SimMechanics are used to observe the Quadrotor's behavior under the proposed control
strategies in virtual reality. |
