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Abstrak -Octavianus Bagaswara Adi
Terbatas  Irwan Sofiyan
» Gedung UPT Perpustakaan
Terbatas  Irwan Sofiyan
» Gedung UPT Perpustakaan
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.