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  • Quadcopter PemodelanQC OK

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    Rizanda Leihitu
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    This document is a thesis proposal for designing an adaptive trajectory tracking control system for a quadcopter performing cruise motion. It will control the quadcopter's position and orientation using feedback from sensors to follow a reference trajectory. The control system will consist of a signal builder to generate control inputs from the errors between the measured and reference states, and a controller to process these inputs and generate motor commands. The goal is to develop a control system that can accurately track trajectories while coping with environmental disturbances.

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    oce oye

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    This document is a thesis proposal for designing an adaptive trajectory tracking control system for a quadcopter performing cruise motion. It will control the quadcopter's position and orientation using feedback from sensors to follow a reference trajectory. The control system will consist of a signal builder to generate control inputs from the errors between the measured and reference states, and a controller to process these inputs and generate motor commands. The goal is to develop a control system that can accurately track trajectories while coping with environmental disturbances.

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    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
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    1 views1 page

    Quadcopter PemodelanQC OK

    Uploaded by

    Rizanda Leihitu
    This document is a thesis proposal for designing an adaptive trajectory tracking control system for a quadcopter performing cruise motion. It will control the quadcopter's position and orientation using feedback from sensors to follow a reference trajectory. The control system will consist of a signal builder to generate control inputs from the errors between the measured and reference states, and a controller to process these inputs and generate motor commands. The goal is to develop a control system that can accurately track trajectories while coping with environmental disturbances.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
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    of 1

    [OMEGA]

    Tugas Akhir
    Perancangan Sistem Pengaturan Adaptif Untuk Trajectory Tracking U1 u1 X X
    Quadcopter Pada Gerak Cruise
    Benaverd Rizanda Putra Leihitu - 2212 100 157 U1 U1 OMEGA roll roll
    roll
    Y Y
    U2 U2
    Group 1 ref_x U2 pitch pitch
    pitch Z Z
    Out1 U2 U3 U3
    Reference X Ref X yaw yaw

    OMEGA U4 U4 yaw Vx Vx
    ref_y U3 0 init condition X
    p [p]
    ic_translasiX
    Out2 U3 0 ic_roll
    0 init condition Y Vy Vy
    ic_sudut2

    Reference Y Ref Y 0 ic_pitch q [q] ic_translasiY

    U4 0 init condition Z Vz Vz
    ic_sudut3
    ref_z Out3 U4 0 ic_yaw ic_translasiZ
    r [r] TRANSLASI
    ic_sudut4
    ROTASI
    U TO OMEGA

    Reference Z Ref Z
    Out4 U1

    Signal Builder Kontroler

    roll [p] X -0.01886


    X X
    pitch [q] Y -0.02976
    Y Y
    Sudut Sudut2 Z 3.001
    Z yaw [r] Posisi
    X Z
    yaw roll
    pitch pitch roll 8.306e-06

    yaw Vx
    roll pitch -1.129e-05
    Z Sudut1 Sudut7

    Quadrotor plot Vy yaw 0

    Sudut3
    Vz

    Sudut8
    X

    ref_x Sudut4

    ref_y Sudut5

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