Penalaan Mandiri Full State Feedback dengan LQR dan JST Pada Kendali Quadrotor

Abstract

Quadrotor is one type of unmanned aerial vehicle that has the ability to vertical takeoff and landing. In this research, a system designed to stabilize quadrotor during flight condition by maintaining at angle of roll, pitch, yaw, and x, y, and z axis position using LQR full state feedback with artificial neural network (ANN).The LQR full state feedback method uses 12 states with each K constant being tuned with ANN. This research implements ANN method to change feedback constant at angle of roll, pitch, and yaw and x, y, and z axis. The artificial neural network method uses 12 input layers, 12 hidden layers, and 1 output layer.Testing with ANN improved the rise time to ± 2.18 seconds at the roll angle, ± 1.23 seconds at the pitch angle, and ± 0.31 seconds at the yaw angle. Improved settling time value up to ± 2.41 seconds at roll angle, ± 1.23 seconds at pitch angle, and ± 1.07 seconds at yaw angle. Improved steady state eror value of ± 0.61% at roll angle, ± 4.88% at pitch angle, and ± 0.82% at the yaw angle.