Kendali Proses Transisi Timbal Balik Hover dan Cruise pada Penerbangan Quad Tilt-Wing

Ariesta Martiningtyas Handayani, Prof. Dr. Tech. Ahmad Ashari, M.Ikom

2026 | Disertasi | S3 Ilmu Komputer

Wahana udara tanpa awak dengan konfigurasi Quad Tilt-Wing (QTW) menawarkan fleksibilitas misi yang tinggi dengan menggabungkan kemampuan lepas landas dan mendarat secara vertikal (VTOL) serta efisiensi terbang jelajah layaknya pesawat sayap tetap. Namun, tantangan teknis terbesar terletak pada fase transisi antara mode hover dan cruise. Perubahan sudut kemiringan sayap secara dinamis menyebabkan munculnya perilaku nonlinier yang kuat serta variasi parameter inersia dan aerodinamika yang signifikan. Kondisi ini menuntut strategi pengendalian yang canggih, karena pendekatan linear konvensional rentan terhadap instabilitas, osilasi berlebih, dan risiko penurunan ketinggian yang membahayakan wahana.

Penelitian ini memecahkan masalah tersebut dengan memformulasikan model matematis dinamika QTW menggunakan pendekatan Newton–Euler untuk merepresentasikan perilaku translasi dan rotasi secara komprehensif. Solusi kendali utama yang dikembangkan adalah Linear Parameter-Varying Linear Quadratic Integral (LPV–LQI), yang memanfaatkan sudut kemiringan sayap sebagai parameter penjadwalan (scheduling parameter). Metode ini memungkinkan sistem beradaptasi terhadap perubahan geometri fisik secara kontinu, berbeda dengan metode Linear Time-Invariant (LTI–LQI) yang statis. Evaluasi menyeluruh dilakukan melalui simulasi numerik yang mencakup fase lepas landas, hover, transisi menuju cruise, fase jelajah, transisi kembali, dan pendaratan.

Hasil simulasi menunjukkan bahwa kendali LPV–LQI berhasil memenuhi tujuan penelitian dengan performa kuantitatif yang baik. Meskipun terdapat Root Mean Square Error (RMSE) ketinggian sebesar 3,709 m saat lepas landas akibat respon transien, stabilitas pada fase transisi sangat memuaskan. Kesalahan pelacakan posisi horizontal konsisten di bawah 1 m dan RMSE sudut sikap terjaga di bawah 15°. Analisis gaya total memperlihatkan gaya vertikal stabil di kisaran 39 N, gaya sepanjang sumbu x yang adaptif, serta gaya lateral mendekati 0 N. Tidak ditemukan osilasi kritis maupun respon divergen selama fase transisi, sehingga pengendali LPV–LQI menunjukkan kestabilan sistem yang memadai dan mendukung pelaksanaan transisi hover ke cruise secara aman dalam batas flight envelope yang ditetapkan.

The Unmanned Aerial Vehicle (UAV) with a Quad Tilt-Wing (QTW) configuration offers high mission flexibility by combining Vertical Take-Off and Landing (VTOL) capability with the cruise efficiency of a fixed-wing aircraft. However, the most critical technical challenge arises during the transition phase between hover and cruise modes. The dynamic variation of the wing tilt angle induces strongly nonlinear behavior, along with significant changes in inertia and aerodynamic parameters. These conditions demand advanced control strategies, since conventional linear approaches are prone to instability, excessive oscillations, and altitude loss that may endanger the vehicle.

This research addresses the problem by formulating a comprehensive mathematical model of QTW dynamics using the Newton–Euler approach to represent both translational and rotational motion. The main control solution developed is the Linear Parameter-Varying Linear Quadratic Integral (LPV–LQI) controller, which utilizes the wing tilt angle as a scheduling parameter. This method enables the system to continuously adapt to changes in physical geometry, in contrast to the static Linear Time-Invariant (LTI–LQI) approach. A thorough evaluation was conducted through numerical simulations covering takeoff, hover, transition to cruise, cruise flight, return transition, and landing phases.

The simulation results demonstrate that the LPV–LQI controller successfully achieves the research objectives with strong quantitative performance. Although an altitude Root Mean Square Error (RMSE) of 3.709 m occurs during takeoff due to transient response, stability throughout the transition phase remains highly satisfactory. Horizontal position tracking errors are consistently maintained below 1 m, and attitude RMSE is kept under 15°. Total force analysis shows that the vertical force remains stable around 39 N, the longitudinal force along the x-axis adapts as required, and the lateral force stays close to 0 N. No critical oscillations or divergent responses were observed during transition, indicating that the LPV–LQI controller provides adequate system stability and supports safe hover-to-cruise transitions within the defined flight envelope.

Kata Kunci : Quad Tilt-Wing UAV, transisi penerbangan, LTI–LQI, LPV–LQI, RMSE