IMPLEMENTASI METODE KENDALI LQR PADA QUADROTOR UNTUK LEPAS LANDAS DAN MENDARAT SECARA OTOMATIS; IMPLEMENTATION OF LQR CONTROL METHOD IN QUADROTOR FOR AUTO TAKE-OFF AND LANDING

Yahya, Luthfi, Andhi Dharmawan

2015 | Skripsi | FMIPA

research aims to implement LQR control system that can stabilize the quadrotor attitude (roll, pitch, yaw) and support quadrotor for automatic take-off heading to the heights point approaching the set-point and landing. LQR is an optimal control system that produces system input value obtained by multiplication between state value and feedback gain. Input value converted into PWM pulse to control the rotational speed of brushless motor in maintaining quadrotor attitude. The auto take-off and landing test result shows, with the value of weight matrix Qr=Qp=2580, Qgr=Qgp=1, and RU2=RU3=0,7 for roll and pitch atitude control, control system able to control roll angle attitude with average value of roll angle is -1,8° with deviation standard is 2.2° and pitch angle attitude with average value of pitch angle is -0.4° with deviation standard is 2,47°. The value of weight matrix Qy=11, Qgy=2, and RU4=0,0048 for yaw attitude control, control system able to control yaw angle attitude approach 179° dan -179°. The best gain value K to control vertical variable is Kz=256 and Kvz=0,85, where using this gain value, quadrotor able to take-off heading to the heights approaching the setpoint 1.04 meter. For the rise time, roll control has a value of 0.15 seconds and pitch control has a value of 0.67 seconds.

Kata Kunci : roll; pitch; yaw; vertical variable; rise time.