EVENT BASED CONTROL DESIGN FOR QUADROTOR POSITIONING

• Main Author: Aji Santosa (NIM : 13313029), Rival
• Format: Final Project
• Language: Indonesia
• Online Access: https://digilib.itb.ac.id/gdl/view/30550
• Institution: Institut Teknologi Bandung

Control action, compute and send control signal, happen periodicly once every sampling time for controlling system with wireless network. This means controller must compute and send control signal every sampling time, even when plant have reached set point. Very short sampling time also cause communication and computation must happen in very fast rate and at high cost. Event-based control strategy makes controlling, compute and send, happen only when certain “event” is happening. “Event” is describe as mathematical inequality between state and relative error of system. In this mathematical inequality, there is free design parameter &#963;. Event-based control no longer do controlling, communicate and compute, periodicly. <br /> <br /> <br /> The purpose of this project is designing event-based control for quadrotor positioning. AR.Drone 2.0 is used in this project. This project use North East Down coordinate to specify quadrotor position. Identification of this quadrotor is done to get state space model which respresent quadrotor properly. Quadrotor is controlled with computer using wireless connection. Controller is designed by Liniear Quadratic Regulator (LQR) control with matrix penalize matrice, Q and R, are determined by Bryson’s rule. The objective of this controller is to move quadrotor into desire position. <br /> <br /> <br /> Event-based control reduce numbers of control action, compute and send control signal, which affect peformance of plant’s response. Small number of control can drive to poor peformance of response, but, selecting parameter &#963; properly in event-based control can result less number of control action with good peformance. Result show that event-based control with parameter design &#963; = 0,025 can track a set point and do disturbance rejection and control action is reduced from 3000 to 993 when peforming tracking set point (X, Y, Z ) = (1,1,-1) from intial point (X, Y, Z ) = (0,0,-0.7). <br />