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All Journal IJCCS (Indonesian Journal of Computing and Cybernetics Systems) AMIKOM ICT AWARD 2010 Pixel : Jurnal Ilmiah Komputer Grafis Jurnal Ilmiah Kursor Jurnal Teknologi Informasi dan Ilmu Komputer International conference on Information Technology and Business (ICITB) Journal of Science and Applicative Technology Conference SENATIK STT Adisutjipto Yogyakarta JOURNAL OF INFORMATION SYSTEM RESEARCH (JOSH) Malcom: Indonesian Journal of Machine Learning and Computer Science Electrician : Jurnal Rekayasa dan Teknologi Elektro
Rajif Agung Yunmar
Program Studi Teknik Informatika, Institut Teknologi Sumatera
Aerospace Engineering Civil Engineering, Building, Construction & Architecture Computer Science & IT Control & Systems Engineering Decision Sciences, Operations Research & Management Earth & Planetary Sciences Economics, Econometrics & Finance Education Electrical & Electronics Engineering Engineering Industrial & Manufacturing Engineering Materials Science & Nanotechnology Mechanical Engineering

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Journal : Journal of Science and Applicative Technology

 1 
Robust Control of a Quadcopter Flying via Sliding Mode Rudi Uswarman; Swadexi Istiqphara; Rajif Agung Yunmar; Arkham Zahri Rakhman
Journal of Science and Applicative Technology Vol 2 No 1 (2019): ICoSITeR Special Edition
Publisher : Lembaga Penelitian dan Pengabdian Masyarakat (LPPM), Institut Teknologi Sumatera, Lampung Selatan, Lampung, Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (634.694 KB) | DOI: 10.35472/281446

Abstract

Sliding Mode Control (SMC) used to control the stability of a quadcopter from disturbances and uncertainties. This technique has two main advantages: the nonlinear dynamics and modelling errors of the quadcopter can be eliminated by switching function and the uncertainty problem can be overcome with a closed-loop response. The controller of the sliding mode technique consists of two components. The first is design equivalent control law to maintain the system state trajectory on the sliding surface. The second is design switching control law to reach the sliding surface. The Lyapunov theorem is used to ensure the stability of the system. Simulation results verify the robustness of the controller.
Co-Authors Agus Harjoko Andika Setiawan Arkham Zahri Rakhman Budiman, Ega Ega Budiman Eka Saefan Rukzam I Wayan Wiprayoga Wisesa Pambudi, Yulianto Rakhman, Arkham Zahri Ramdani, Ahmad Luky Rudi Uswarman Soemarwoto, Retno Ariza S. Swadexi Istiqphara