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All Journal Transmisi: Jurnal Ilmiah Teknik Elektro PROSIDING SENATEK FAKULTAS TEKNIK UMP JTET (Jurnal Teknik Elektro Terapan) Jurnal ULTIMA Computing Journal of Robotics and Control (JRC) Jurnal Sains dan Teknologi JAREE (Journal on Advanced Research in Electrical Engineering) Prosiding University Research Colloquium SNTE
Ari Santoso
Jurusan Teknik Elektro, Politeknik Negeri Semarang, Jalan. Prof. H.Sudarto Tembalang, Semarang, 50269
Aerospace Engineering Humanities Automotive Engineering Computer Science & IT Control & Systems Engineering Economics, Econometrics & Finance Education Electrical & Electronics Engineering Engineering Environmental Science Law, Crime, Criminology & Criminal Justice Mathematics Mechanical Engineering Medicine & Pharmacology Physics Social Sciences

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Journal : JAREE (Journal on Advanced Research in Electrical Engineering)

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Fault-Tolerant Control for Multi-Quadcopter with Suspended Payload under Wind Disturbance FARRAS, ALIF AL; SANTOSO, ARI; NUGRAHA, YURID EKA
JAREE (Journal on Advanced Research in Electrical Engineering) Vol 8, No 2 (2024): July
Publisher : Department of Electrical Engineering ITS and FORTEI

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12962/jaree.v8i2.406

Abstract

Delivering payload with multiple quadcopters necessitates a reliable backup system. This research introduces a fault-tolerant design specifically for multi-drone payload transportation. The system employs formation control, ensuring the weight is evenly distributed among all functioning drones. This research tackles the challenge of reliable payload delivery with multi-drone systems. It proposes a new fault-tolerant control system specifically designed for this purpose. The system addresses a limitation in existing solutions by incorporating a simple PD controller alongside a fault-tolerant strategy. This approach allows the system to maintain operation even if a drone malfunctions. The paper further demonstrates the system's effectiveness through simulations. Results show the system's ability to maintain stability with minimal altitude loss (only 6.3cm) and rapid position reconfiguration (within 3.96 seconds) even under windy conditions. These findings highlight the potential of this fault-tolerant design to significantly improve multi-drone payload delivery, especially for missions requiring high levels of stability and redundancy.
Controlling a Quadcopter with Static Loads and Dynamic Wind Disturbances using a Fuzzy Inference System Azka, Aida; Santoso, Ari; Agustinah, Trihastuti
JAREE (Journal on Advanced Research in Electrical Engineering) Vol 8, No 2 (2024): July
Publisher : Department of Electrical Engineering ITS and FORTEI

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12962/jaree.v8i2.410

Abstract

Maneuverability, hover, and simple mechanical design are the advantages of quadcopters. However, because quadcopters are smaller and lighter, they are more susceptible to wind than manned aircraft. The winds that cause air accidents are divided into several categories, namely downburst, turbulent wind, wind shear, and wind vortices. Disturbances and uncertainties, such as wind gusts, can result in difficulties in executing a mission on an accurate flight path. Quadcopter resilience is an important topic for UAV. Especially if the quadcopter is in terrain that is difficult for humans to reach. Hence, the system is susceptible and experiences reduced stability. Controlling a quadcopter with a cube-shaped static load to withstand turbulent wind gusts in this research uses robust Fuzzy Inference System control and trajectory control using LQR with Command-Generator Tracking. The results achieved through fuzzy control can fortify the quadcopter against half of the overall turbulent wind gusts with an RMSE of 0.0546. In contrast with the LQR-CGT control, which still exhibits an RMSE of 0.0795.
Co-Authors Achmad Jazidie Aditya, Ryan Aris Triwiyatno Azka, Aida Daeng Supriyadi Pasisarha, Daeng Supriyadi Eriko Arvin Karuniawan FARRAS, ALIF AL H, Sidiq Syamsul Hady, Mohamad Abdul Hage, Giselle Hari Riyadi, Aji I Nyoman Sutantra Juwarta Juwarta, Juwarta Juwarta, Mohammad Nuh Nugraha, Yurid Eka Sahal, Mochammad syahid Syahid, syahid Syauqi, Muhammad Yavi Marsa Trihastuti Agustinah Yusnan Badruzzaman, Yusnan