Rachmady, Rezha Carina (2026) Sistem Kontrol Heading dan Depth Attitudr pada Autonomous Underwater Vehicle (AUV) Menggunakan SMC-PD Controller with State Observer dengan Pengaruh Arus Laut. Masters thesis, Institut Teknologi Sepuluh Nopember.
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Abstract
Perkembangan Autonomous Underwater Vehicle (AUV) atau biasa disebut kapal selam tanpa awak sudah banyak digunakan dalam aktivitas di bawah laut. Dalam penelitian ini, dirancang sistem kontrol heading dan depth attitude pada Autonomous Underwater Vehicle (AUV) menggunakan SMC-PD controller with state observer dengan mempertimbangkan pengaruh arus laut. Sehingga AUV dapat bergerak dan berpindah tempat dengan waktu yang seefisien mungkin. Pemodelan AUV menggunakan plant nonlinear 6-DOF, kemudian model tersebut dilinearisasi untuk merancang kontroler dan observer. Arus laut dimodelkan sebagai gangguan horizontal dua dimensi yang mengubah kecepatan relatif AUV terhadap air pada arah surge dan sway.
Evaluasi dilakukan pada tiga skenario simulasi MATLAB sesuai tujuan penelitian, yaitu skenario dasar tanpa pengaruh arus laut, skenario gangguan arus dengan target tetap untuk melihat performa kontroler terhadap arus laut, serta skenario pergantian waypoint sederhana untuk melihat respons ketika target heading-depth berubah berurutan. Hasil simulasi menunjukkan bahwa pada skenario dasar, respons heading mencapai settling time 25.81 s dan respons depth mencapai settling time 69.99 s dengan error akhir yang sangat kecil. Pada skenario gangguan arus, sistem tetap stabil dengan error akhir depth sebesar 0.0217 m. Pada skenario pergantian waypoint sederhana, seluruh pergerakan heading dan depth memenuhi kriteria kondisi steady state dengan rata-rata error 15.409° pada heading dan 1.609 m pada depth. Hasil ini menunjukkan bahwa SMC-PD controller with state observer mampu menjaga respons heading dan depth AUV secara stabil pada simulasi dengan pengaruh arus laut dalam ruang lingkup penelitian ini.
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Autonomous Underwater Vehicles (AUVs), commonly known as
unmanned submarines, have been widely utilized in various underwater activities.
In this study, a heading and depth attitude control system for an Autonomous
Underwater Vehicle (AUV) is designed using a SMC-PD controller with a state
observer, taking the influence of ocean currents into consideration. This ensures
that the AUV can navigate and relocate as time-efficiently as possible. The AUV is
modeled using a 6-DOF nonlinear plant, which is then linearized to design the
controller and observer. Ocean currents are modeled as a two-dimensional
horizontal disturbance that alters the relative velocity of the AUV with respect to
the water in the surge and sway directions.
The evaluation was conducted across three MATLAB simulation
scenarios in accordance with the research objectives: a baseline scenario without
the influence of ocean currents, a current disturbance scenario with fixed targets to
observe the controller's performance against ocean currents, and a simple waypoint
change scenario to observe the system's response when the heading and depth
targets change sequentially. The simulation results indicate that in the baseline
scenario, the heading response achieves a settling time of 25.81 s, and the depth
response achieves a settling time of 69.99 s, both with a minimal final error. In the
current disturbance scenario, the system remains stable with a final depth error of
0.0217 m. In the simple waypoint change scenario, all heading and depth
movements meet the steady-state condition criteria, with an average error of
15.409° for heading and 1.609 m for depth. These results demonstrate that the
SMC-PD controller with a state observer is capable of maintaining stable heading
and depth responses of the AUV during simulations involving the influence of
ocean currents within the scope of this study.
| Item Type: | Thesis (Masters) |
|---|---|
| Uncontrolled Keywords: | Autonomous underwater vehicle; depth attitude; heading attitude; ocean current; SMC-PD controller with state observer. |
| Subjects: | T Technology > TK Electrical engineering. Electronics Nuclear engineering T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK1007 Electric power systems control T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK6592.A9 Automatic tracking. |
| Divisions: | Faculty of Intelligent Electrical and Informatics Technology (ELECTICS) > Electrical Engineering > 20101-(S2) Master Thesis |
| Depositing User: | Rezha Carina Rachmady |
| Date Deposited: | 31 Jul 2026 07:18 |
| Last Modified: | 31 Jul 2026 07:18 |
| URI: | http://repository.its.ac.id/id/eprint/140777 |
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