PEMODELAN DAN DESAIN KONTROL LQR UNTUK AUTONOMOUS MINI HELICOPTER PADA KONDISI TERBANG HOVER

Abstract

Technological advances in the field of aeronautics, especially on the type of UAV (Unmanned Aerial Vehicle) has provided significant contribution to the military, academic research and others. The military has widely used UAV for military operations and reconnaissance missions, while the academic research utilized it to observe dangerous situations such as volcanoes, natural disaster sites, and very old buildings. In addition to military and academic research, UAV can also be used for hobbies or toys, photographies, video recordings and many more applications. This study presents the equations of motion for 6 DOF UAV helicopter dynamics. The dynamics are modeled in the form of block diagrams created using Matlab and Simulink. After the equations are modeled in Simulink, a linear model in state space form is generated using the command “linmod".This linear model is then used to design the LQR controller. Having made the control design, simulations are performed by the adding gust wind disturbance in a desired direction while hovering with a specified flight trajectory. To facilitate the visualization of simulation results, the output of this simulation is connected with a virtual environment created using VRML (virtual reality modeling language). Simulation results show motion behavior of the UAV helicopter during hovering in the case of open-loop, closed-loop, gust disturbance and trajectory.