Implementasi Sistem Kontrol Autopilot Menggunakan Metode Fuzzy pada Unmanned Surface Vehicle LSS-01

Akbar, Ihsan Rasyidan (2025) Implementasi Sistem Kontrol Autopilot Menggunakan Metode Fuzzy pada Unmanned Surface Vehicle LSS-01. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Unmanned Surface Vehicle (USV) merupakan kapal tanpa awak yang dapat dioperasikan secara autopilot untuk menjalankan berbagai misi, termasuk di lingkungan yang berbahaya bagi kapal konvensional. Untuk memastikan USV mampu mencapai waypoint secara akurat, dibutuhkan sistem kontrol autopilot yang adaptif terhadap dinamika pergerakan USV dan mampu menjaga kestabilan arah dan kecepatan. USV LSS-01 sebelumnya menggunakan kontrol PID sebagai metode utama, tetapi belum terdapat implementasi menggunakan metode selain yang berbasis PID pada platform ini. Oleh karena itu, dilakukan perancangan serta implementasi kontrol fuzzy logic control sebagai direct control untuk kecepatan surge dan sudut heading pada USV LSS-01 dengan memanfaatkan metode pemanduan ILOS. Sistem kontrol fuzzy dirancang dan diuji melalui simulasi berdasarkan model dinamika 3-DOF serta implementasi lapangan di Danau 8 ITS pada kondisi lingkungan tenang tanpa gangguan signifikan dari arus dan gelombang. Hasil pengujian menunjukkan bahwa kontroler fuzzy untuk surge menghasilkan overshoot 6,14%, rise time 4 detik, dan settling time 14 detik, sementara kontroler yaw mencatat overshoot sebesar 30,68%, rise time 5,4 detik, dan settling time 24 detik. Pengujian lintasan pada lapangan menunjukkan USV mampu mengikuti lintasan waypoint, di mana nilai RMSE pada lintasan S lebih kecil dibandingkan pada lintasan persegi panjang, sehingga membuktikan bahwa kompleksitas lintasan mempengaruhi manuverabilitas USV dalam menjalankan misi path following.
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Unmanned Surface Vehicle (USV) is an unmanned ship that can be operated on autopilot to carry out various missions, including in environments that are hazardous to conventional ships. To ensure that the USV can reach the waypoint accurately, an autopilot control system is needed that is adaptive to the dynamics of the USV movement and is able to maintain directional and speed stability. The USV LSS-01 previously used PID control as the main method, but there has been no implementation using methods other than PID-based on this platform. Therefore, the design and implementation of fuzzy logic control as a direct control for surge speed and heading angle on the USV LSS-01 was carried out by utilizing the ILOS guidance method. The fuzzy control system was designed and tested through simulations based on a 3-DOF dynamic model and field implementation at Lake 8 ITS in calm environmental conditions without significant interference from currents and waves. The test results showed that the fuzzy controller for surge produced an overshoot of 6.14%, a rise time of 4 seconds, and a settling time of 14 seconds, while the yaw controller recorded an overshoot of 30.68%, a rise time of 5.4 seconds, and a settling time of 24 seconds. Field testing showed that the USV is capable of following the waypoint trajectory, where the RMSE value on the S trajectory is smaller than on the rectangular trajectory, thus proving that the complexity of the trajectory affects the maneuverability of the USV in carrying out the path following mission.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Kontrol Autopilot, Unmanned Surface Vehicle, Autopilot Control, Fuzzy, Waypoint.
Subjects:	T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL152.8 Vehicles, Remotely piloted. Autonomous vehicles.
Divisions:	Faculty of Intelligent Electrical and Informatics Technology (ELECTICS) > Electrical Engineering
Depositing User:	Ihsan Rasyidan Akbar
Date Deposited:	24 Jul 2025 07:06
Last Modified:	24 Jul 2025 07:06
URI:	http://repository.its.ac.id/id/eprint/121086

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