Design of Robust Control System for delivery drones

At this time, people prefer to shop online rather than shop directly to the store. Online shopping can be done through websites or e-commerce sites that provide buying and selling sites. Goods that are traded will be sent using a freight forwarder. This resulted in a buildup of consignment goods, so that goods that were important/emergency in nature were delayed for delivery. One of the efforts that can be made to overcome this problem is to make shipments by air. Modeling Quadcopter is done to overcome these problems. The modeling of Quadcopter is based on rotational, translational and angular kinematics. In its implementation, drones will experience interference, both interference from the system or interference from outside, for example, wind disturbance. Therefore, it is necessary to design a control system to maintain flight stability. In this research, a robust h-infinity control system will be applied. Where, the H-infinity control system is designed to ensure the stability and state of the system when disturbances occur, both internal and external disturbances. From the simulation results, it was found that the H-infinity control system was able to stabilize the drone's motion during disturbances.