Perpustakaan Digital ITB

Unmanned Aerial Vehicles (UAVs) play crucial roles across various sectors including surveillance, agriculture, logistics, military operations, and environmental monitoring. Ducted fan UAVs are particularly notable for their vertical takeoff and landing capabilities, precise hovering control, and unique design featuring counter-rotating rotors and four control surfaces. However, their inherent instability and unconventional design complicate the control system design process. This paper investigates thrust vectoring control for ducted fan UAVs through Hardware-in-the-Loop Simulation (HILS) analysis. The study begins with developing a simulation model and designing a PID-based controller, subsequently implementing these in an HILS setup interfacing with a Pixhawk flight controller. The HILS setup using Pixhawk 1 involves several steps, including software installation, controller integration, and sampling time configuration for real-time synchronization. Performance metrics are evaluated for tracking and stability, revealing significant disparities, particularly in stability-focused testing. Differences in Integral of Time-weighted Absolute Error (ITAE) and Amplitude (AMP) between HILS and simulation averaged 45.69% and 50.87%, respectively. HILS exhibited longer settling and rise times averaging 17.1% and 36.99% more than simulation for tracking tasks. Stability tests indicated a 35.20% longer settling time in HILS compared to simulation. These findings emphasize the importance of tuning controllers sequentially. First, parameters are optimized for simulation. Then, they are refined for HILS, ensuring the development of robust and effective ducted fan UAV control systems suitable for practical deployment in real-world applications.