Perancangan Sistem Kendali Gerak Autonomous Underwater Vehicle (AUV) Berbasis Fuzzy-PID dengan Path Following

Lishard, Amalia Firgusevtia (2022) Perancangan Sistem Kendali Gerak Autonomous Underwater Vehicle (AUV) Berbasis Fuzzy-PID dengan Path Following. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Indonesia memiliki tingkat kerawanan yang tinggi terhadap ancaman dari dalam maupun luar negeri, namun kapal patroli laut yang dimiliki saat ini masih belum memenuhi, sehingga diperlukan kendaraan bawah laut tanpa awak yang mampu membantu melaksanakan tugas patroli di perairan Indonesia. Salah satu upaya yang dapat dilakukan adalah dengan memperbaharui sistem kemudi otomatis (autopilot) AUV. Sistem autopilot yang ada saat ini menggunakan algoritma PID, dan memiliki kekurangan belum bisa menghilangkan overshoot pada respon sistem. Penelitian ini mengusulkan rancangan sistem pengendali PID adaptif yang disusun berdasarkan logika fuzzy. AUV yang digunakan dalam penelitian ini adalah AUV REMUS 100 yang disimulasikan berlayar dari Bunaken menuju Tateli. Penelitian ini diuji dengan gangguan berupa arus laut sebesar 0.05 m/s atau 0.097 knot dan 0.20 m/s atau 0.389 knot. Hasil penelitian menunjukkan bahwa algoritma pengendali yang diajukan menghasilkan respon dengan nilai maximum overshoot sebesar 0.7683° untuk setpoint 20° dan 1.2281° untuk setpoint 30°. Selain itu algoritma pengendali yang diajukan juga mampu menjaga AUV tetap berada pada jalurnya dengan nilai rata-rata error terbesar 2.3224 meter pada jalur belok dengan kondisi arus laut 0.20 m/s dari arah utara.
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Indonesia has a high level of vulnerability to threats from within and outside the country, but the current marine patrol boats currently do not meet the requirements, so an unmanned underwater vehicle is needed that is able to help carry out patrol duties in Indonesian waters. One of the efforts that can be done is to update the AUV automatic steering system (autopilot). The current autopilot system uses the PID algorithm, and has the disadvantage of not being able to eliminate the overshoot on the system response. This study proposes an adaptive PID control system design based on fuzzy logic. The AUV used in this study is the AUV REMUS 100 which is simulated sailing from Bunaken to Tateli. This study was tested with disturbances in the form of ocean currents of 0.05 m/s or 0.097 knots and 0.20 m/s or 0.389 knots. The results show that the proposed control algorithm produces a response with a maximum overshoot value of 0.7683° for a setpoint of 20° and 1.2281° for a setpoint of 30°. In addition, the proposed control algorithm is also able to keep the AUV on track with the largest average error value of 2.3224 meters on the turning path with sea currents of 0.20 m/s from the north.

Item Type:	Thesis (Other)
Additional Information:	RSF 629.892 Lis p-1 2022
Uncontrolled Keywords:	Autopilot Autonomous Underwater Vehicle (AUV), Pengendali PID, Logika Fuzzy, PID Controller
Subjects:	T Technology > TJ Mechanical engineering and machinery > TJ223 PID controllers V Naval Science > VM Naval architecture. Shipbuilding. Marine engineering > VM365 Remote submersibles. Autonomous vehicles.
Divisions:	Faculty of Industrial Technology and Systems Engineering (INDSYS) > Physics Engineering > 30201-(S1) Undergraduate Thesis
Depositing User:	- Davi Wah
Date Deposited:	25 Sep 2024 04:58
Last Modified:	25 Sep 2024 04:58
URI:	http://repository.its.ac.id/id/eprint/115673

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