SIMULATOR AND MODEL PREDICTIVE CONTROL DESIGN FOR QUADROTOR BASED ON HARDWARE IN THE LOOP

• Main Author: Fatahillah, Deedat
• Format: Final Project
• Language: Indonesia
• Online Access: https://digilib.itb.ac.id/gdl/view/83634
• Institution: Institut Teknologi Bandung

A quadrotor is a type of unmanned aerial vehicle with four rotors, allowing it to maneuver with six degrees of freedom. This makes the quadrotor more agile compared to other types of unmanned aerial vehicles. The main challenge in quadrotor development is the design and implementation of an appropriate control system. An improper control system can result in poor response and potentially damage the quadrotor. In this study, a hardware-in-the-loop (HIL) simulator is developed as a method for designing control systems directly on the flight controller without directly damaging the quadrotor. Additionally, a model predictive control system will be implemented on the quadrotor using the developed HIL simulator. The research begins with the development of the HIL simulator for the quadrotor, which includes identifying the quadrotor's dynamic system, designing the HIL simulator, and integrating and validating the HIL simulator. The quadrotor dynamic model has been identified with an accuracy of (24.96%; 21.06%; 25.94%) on validation data. The dynamic model has also been integrated into the HIL simulator designed in Simulink with a sampling time of 0.01 seconds. The HIL simulator's accuracy in simulating the quadrotor's dynamics is (23.74%; 5.79%; 5.86%). A model predictive control system has been designed to replace the speed control system embedded in the Pixhawk. The performance of the MPC controller will be tested in agile maneuvers with a vector field-based path tracking system and transition separation that has been developed. The MPC controller can produce a higher maximum speed compared to the PID controller. The MPC controller also results in a smaller tracking error compared to the PID controller with a vector field-based tracking system. Keywords: Quadrotor, Hardware-in-the-Loop (HIL), Model Predictive Control (MPC), simulation, flight controller