TRACKING QUADCOPTER MENGGUNAKAN METODE COMMAND-GENERATOR TRACKER DENGAN EFEK INTEGRATOR
DOI:
https://doi.org/10.22441/jte.v8i2.1608Abstrak
Quadcopter UAV merupakan sistem yang nonlinier, underactuated dan tidak stabil. Karakteristik tersebut menjadi fokus perhatian untuk perkembangan penelitian kontrol quadcopter. Pada penelitian ini metode kontrol optimal output feedback digunakan untuk kontrol attitude dan posisi quadcopter. Kontrol optimal output feedback yang memiliki performa H∞ digunakan untuk menjaga kestabilan dan kekokohan quadcopter. Gain kontroler diperoleh menggunakan teknik numerik iterative Linear Matrix Inequality (LMI). Untuk kontrol tracking posisi pada sumbu X dan Y, digunakan struktur Command-Generator Tracker (CGT). Permasalahan kontrol tracking tersebut diselesaikan menggunakan metode LQ regulator dengan output feedback. Simulasi menunjukkan bahwa sistem kontrol dapat men-track sinyal referensi yang diberikan.
Kata Kunci— Quadcopter UAV, performa H∞, LMI, Command-Generator Tracker, LQ regulator.
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