Kajian ini menyiasat kawalan pergerakan berarah dan sisi kenderaan udara tanpa pemandu melalui simulasi dalam MATLAB / Simulink. Model linear kenderaan udara tanpa pemandu mini, Ultra Stick 25e digunakan oleh kontroler bagi mengutarakan usul sisi-arah kenderaan udara tanpa pemandu. Arah dan sisi kawalan pergerakan kenderaan udara tanpa pemandu adalah sangat penting terutamanya apabila kenderaan udara tanpa pemandu melaksanakan apa-apa manuver. Manuver-manuver ini biasanya dilakukan apabila kenderaan udara tanpa pemandu cuba mengelakkan sebarang halangan terbang atau dalam tugas-tugas yang memerlukan gerakan kompleks. Hal ini menjadi penting untuk kenderaan udara tanpa pemandu mempunyai prestasi yang ideal bagi mencapai output yang dikehendaki dengan serta-merta dan 100% ketepatan terutamanya apabila kenderaan udara tanpa pemandu sedang mengelakkan halangan terbang. Walau bagaimanapun, kontroler yang ada sekarang menunjukkan kelewatan dalam masa tindak balas yang memerlukan penambahbaikan. Jadi, kontroler proporsional-derivatif linear kuadratik regulator dikenalkan and disbanding dengan kontroler proporsional-integral-derivatif, kontroler linear kuadratik regulator, dan kontroler proporsional linear kuadratik regulator. Keadaan penerbangan model kenderaan udara tanpa pemandu mini telah ditetapkan pada halaju hadapan, u=17m/s, sudut padang, θ= 0.0217rad, pesongan sudut elevator, η = 0.091rad, sudut pendikit, τ = 0.559rad, pesongan aileron, ξ= 0rad, pesongan kemudi, ζ= 0rad, dan ketinggian dalam 120m. Kontroler proporsional-integral-derivatif, kontroler linear kuadratik regulator, kontroler proporsional linear kuadratik regulator, dan kontroler proporsional-derivatif linear kuadratik regulator disimulasi dalam MATLAB / Simulink dan dibandingkan dengan keputusan dengan ‘rise time’, ‘settling time’, ‘overshoot’, ‘steady-state error’ dan ‘root mean square error’. Penalaan setiap kontroler memastikan setiap kontroler mampu mencapai tahap yang dioptimumkan untuk memberik prestasi yang terbaik bagi setiap kontroler. Kontroler proporsional-derivatif linear kuadratik regulator meningkatkan tindak balas sistem dengan mengurangkan ‘settling time’ dengan lebih daripada 74% berbanding dengan kontroler-kontroler lain. ‘Rise time’ dan ‘steady-state error’ telah ditambahbaik dengan lebih daripada 50% manakala ‘root mean square error’ telah ditambahbaik dengan lebih daripada 6% and kontroler mempunyai ‘overshoot’ dengan nilai yang munasabah.
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This study investigates the directional and lateral motion control of unmanned aerial vehicles by controlling the sideslip angle through a simulation in MATLAB/Simulink. The linear model of a mini unmanned aerial vehicle, Ultra Stick 25e is applied to controllers to explicate the lateral-directional motion of the unmanned aerial vehicle. Directional and lateral motion control of an unmanned aerial vehicle is very crucial especially when the unmanned aerial vehicle performs any maneuver. These maneuvers usually performed when the unmanned aerial vehicle is avoiding any flying obstacles or in tasks that require complex maneuvers. It is crucial for an unmanned aerial vehicle to have the ideal performance to achieve the desired response instantly with 100% precision especially when the unmanned aerial vehicle is avoiding flying obstacles. However, currently available controllers show a delay in the response time which need further improvements. Therefore, a proportional-derivative linear quadratic regulator controller is developed and compared with a proportional-integral-derivative controller, a linear quadratic regulator controller, and a proportional linear quadratic regulator controller. The flight condition of the mini unmanned aerial vehicle model was set at forward velocity, u=17m/s, pitch angle, θ= 0.0217rad, elevator deflection angle, η = 0.091rad, throttle angle, τ = 0.559rad, aileron and rudder deflections of ξ= 0rad, ζ= 0rad respectively, and altitude of 120m. The proportional-integral-derivative controller, linear quadratic regulator controller, proportional linear quadratic regulator controller, and proportional-derivative linear quadratic regulator controller are simulated in MATLAB/Simulink and compared with the results in terms of rise time, settling time, overshoot, steady-state error and root mean square error. The tuning of each controller makes sure every controller performs at its optimized state which gives the best performance for each controller. The proportional-derivative linear quadratic regulator controller enhances the response of the system by reducing the settling time by more than 74% compared with other controllers. The rise time and steady-state error are improved by more than 50% whereas the root mean square error is improved by more than 6% and having the overshoot at a reasonable value.
Proportional-derivative linear quadratic regulator controller design for improved directional and lateral motion control of unmanned aerial vehicles / Yap Kai Wen