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Kendali Penjejak Alur Optimal untuk Helikopter Otonomi Menggunakan Linear Quadratic Regulator

Optimal Path Tracking Control for Autonomous Helicopter Using Linear Quadratic Regulator

Journal from JBPTPPOLBAN / 2013-11-19 07:58:54
Oleh : Singgih Satrio Wibowo (singgih.wibowo@me.polban.ac.id)
Dibuat : 2012-08-09, dengan 1 file

Keyword : LQR , path tracking, time-invariant, path generator, unmanned helicopter, dynamics

Paper ini menyajikan perancangan kendali penjejak alur untuk helikopter skala kecil (Yamaha R-50) menggunakan Linear Quadratic Regulator (LQR).

Deskripsi Alternatif :

This paper presents tracking control design of a small-scale unmanned helicopter (Yamaha R-50 with 10 ft rotor diameter) using Linear Quadratic Regulator (LQR) technique. We proposed scheme involves two steps : (1) generate a path/trajectory off-line and (2) apply a time-invariant LQR to track the path/trajectory. Numerical simulation using MATLAB/Simulink® is done to demonstrate the feasibility of the control system.

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PropertiNilai Properti
ID PublisherJBPTPPOLBAN
Organisasi
Nama KontakHelmi Purwanti
AlamatJl. Trsn. Gegerkalong Hilir Ds. Ciwaruga
KotaBandung
DaerahJawa Barat
NegaraIndonesia
Telepon022 201 3789 ext. 168, 169, 239
Fax022 201 3889
E-mail Administratorhelmi.purwanti@polban.ac.id
E-mail CKOhelmi.purwanti@polban.ac.id

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