TY - GEN
T1 - Quadcopter path following control design using output feedback with command generator tracker based on LOS
AU - Nugraha, Anggara Trisna
AU - Agustinah, Trihastuti
N1 - Publisher Copyright:
©/2017/IEEE.
PY - 2017/11/28
Y1 - 2017/11/28
N2 - The development of quadcopter technology has much increasing, such as in military and law enforcement agencies, for surveillance, reconnaissance and rescue mission. Also in scientific sides, it is used for mapping the condition of wind speed, detecting radiation sources, maintenance and survey. Quadcopter is a system that still have problem, which is stability, and because of that it can easily get interference from outside. This characteristic leads to the difficulties in automatic controlling the following path and set the heading of Quadcopter. Based on this problem, this paper provides the design of following path control on the horizontal plane by adding Line Of Sight algorithm so it will produce the smallest error possible. The result of the simulation show that the method which used can bring the yaw angle at the expected value algorithm. Quadcopter can do automatically following path with cross track error mean ±0.07 meters.
AB - The development of quadcopter technology has much increasing, such as in military and law enforcement agencies, for surveillance, reconnaissance and rescue mission. Also in scientific sides, it is used for mapping the condition of wind speed, detecting radiation sources, maintenance and survey. Quadcopter is a system that still have problem, which is stability, and because of that it can easily get interference from outside. This characteristic leads to the difficulties in automatic controlling the following path and set the heading of Quadcopter. Based on this problem, this paper provides the design of following path control on the horizontal plane by adding Line Of Sight algorithm so it will produce the smallest error possible. The result of the simulation show that the method which used can bring the yaw angle at the expected value algorithm. Quadcopter can do automatically following path with cross track error mean ±0.07 meters.
KW - Command-Generator tracker
KW - LOS
KW - LQ regulator
KW - Path following
KW - Quadcopter
UR - http://www.scopus.com/inward/record.url?scp=85043587850&partnerID=8YFLogxK
U2 - 10.1109/ISITIA.2017.8124090
DO - 10.1109/ISITIA.2017.8124090
M3 - Conference contribution
AN - SCOPUS:85043587850
T3 - 2017 International Seminar on Intelligent Technology and Its Application: Strengthening the Link Between University Research and Industry to Support ASEAN Energy Sector, ISITIA 2017 - Proceeding
SP - 255
EP - 260
BT - 2017 International Seminar on Intelligent Technology and Its Application
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 18th International Seminar on Intelligent Technology and Its Application, ISITIA 2017
Y2 - 28 August 2017 through 29 August 2017
ER -