MODELING AND IMPLEMENTATION OF HEXACOPTER GUIDANCE SYSTEM WITH FUZZY LOGIC UNDER WIND DISTURBANCE

• Main Author: MEGAYANTI - NIM: 23215085, METI
• Format: Theses
• Language: Indonesia
• Online Access: https://digilib.itb.ac.id/gdl/view/28872
• Institution: Institut Teknologi Bandung

<p align="justify">Recently, unmanned aerial vehicle (UAV) growing rapidly due to their evolving needs in many implemented sectors. In this research, we use hexacopter for monitoring contaminated chemical-radioactive-nuclear (CRN ) area need high altitude and attitude stabilization for precision way point tracking under wind disturbance. The PID guidance system with Fuzzy Logic Control (FLC) intervention use for giving correction signal to obtain hexacopter performance in specified way point tracking. Software in the loop (SITL) base on matlab and ROS was conducted to verify Fuzzy-PID (FPID) guidance performance before implementation. In this result study, we proved that SITL and implementation of hexacopter FPID guidance system can reach way point with better performance in terms faster transient response, smaller error steady state, faster settling time, better static and dynamics performance and robust under wind disturbance for altitude and attitude. Steady state error in the FPID SITL system for altitude stability and attitude roll, pitch, yaw in hexacopter reach 0.25 m, 0.02 rad, 0.03 rad, and 0.025 rad respectively in wind conditions with linear speeds of 1 m / s and rotation of 1 rad / s. Steady state error in FPID system implementation for stability of altitude and attitude yaw reach 0.4 m and 0.36 rad respectively. While the steady state error in the way point movement implementation in the x and y axes reach 1 m and 0.7 m in sequence. This indicates better FPID hexacopter guide performance in static and dynamic characteristics. <p align="justify"> <br /> <br />