Sistem Kendali high Speed Flip pada Quadrotor berbasis Linear quadratic regulator (LQR) dengan Parameterisasi Quarternion

TAUFIQ WIDI NUGROHO, Dr. Andi Dharmawan, S.Si., M.Cs

2020 | Skripsi | S1 ELEKTRONIKA DAN INSTRUMENTASI

Quadrotor telah banyak digunakan untuk banyak kebutuhan, salah satunya sebagai sarana entertainment seperti menangkap bola, menyeimbangkan galah, dan juga melakukan manuver ekstrim seperti High-Speed Flip. Pada umumnya, pemodelan dari quadrotor menggunakan parameterisasi euler angle. Namun, pemodelan ini memiliki masalah ketika melakukan manuver ekstrim dikarenakan adanya singularitas atau gimbal-lock. Parameterisasi quaternion menjadi sebuah alternatif dimana paramterisasi dengan quaternion bersifat non-sekuensial dan tidak melibatkan operasi trigonometri. Selain itu, perlu adanya sistem kendali yang dapat megendalikan semua state nya secara langsung. Maka dipilihlah sistem kendali full state feedback dengan metode penalaan Linear Quadratic Regulator (LQR). Sistem kendali fullstate feedback dengan gain K nilainya diperoleh menggunakan metode Linear Quadratic Regulator (LQR). Masukan High-Speed Flip berupa kecepatan sudut relatif yang dikonversi kedalam quaternion dengan representasi axis-angle dan kemudian diputar dengan initial frame quaternion. Didapatkanlah target sikap selanjutnya dengan representasi quaternion. Berdasarkan penelitian yang telah dilakukan, didapatkan hasil berupa respon kendali anti-rotasi yang didapatkan yaitu kecenderungan steady-state error sistem untuk quaternion anti-roll sebesar 0,0022, quaternion anti-pitch 0,0015 dan quaternion anti-yaw 0,0003. Rise time yang dihasilkan anti-roll 0,97 detik, anti-pitch 0,97 detik dan anti-yaw 1,5 detik. Pada settling time menunjukkan anti-roll 1,5 detik, anti-pitch 1,5 detik, dan anti-yaw 2,2 detik. Respon tersebut menunjukkan kendali anti-rotasi pada quadrotor sudah sesuai dengan spesifikasi yang telah ditentukan.

Quadrotor has been widely used for many purposes, one of which is as a means of entertainment such as catching a ball, balancing a pole, and also performing extreme maneuvers such as the High-Speed Flip. In general, quadrotor modeling uses euler angle parameterization. However, this modeling has problems when performing extreme maneuvers due to the singularity or gimbal-lock. Quaternion parameterization becomes an alternative where paramterization with quaternion is non-sequential and does not involve trigonometric operations. In addition, there is a need for a control system that can directly control all its states. Then a full state feedback control system was chosen with the Linear Quadratic Regulator (LQR) tuning method. The fullstate feedback control system with a gain K value is obtained using the Linear Quadratic Regulator (LQR) method. The input of High-Speed ��Flip is the relative angular velocity which is converted into quaternion with axis-angle representation and then rotated with the initial frame quaternion. The next target attitude is obtained with a quaternion representation. Based on the research that has been done, the results obtained in the form of anti-rotation control response obtained are the steady-state error trend of the system for anti-roll quaternion of 0.0022, quaternion anti-pitch 0.0015 and quaternion anti-yaw 0.0003. The resulting rise time is anti-roll 0.97 seconds, anti-pitch 0.97 seconds and anti-yaw 1.5 seconds. The settling time shows anti-roll 1.5 seconds, anti-pitch 1.5 seconds, and anti-yaw 2.2 seconds. This response shows that the anti-rotation control on the quadrotor is in accordance with the predetermined specifications.

Kata Kunci : LQR, Quaternion, Fullstate feedback, Manuver ekstrim