Desain dan Simulasi Gerak Kontrol Kedalaman Pada MARES AUV Menggunakan Nonlinear Model Predictive Control

Risdhayanti, Anindya Dwi (2017) Desain dan Simulasi Gerak Kontrol Kedalaman Pada MARES AUV Menggunakan Nonlinear Model Predictive Control. Masters thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Autonomous Underwater Vehicles (AUV) merupakan suatu sistem yang nonlinier. Kesulitan masalah desain sistem kontrol pada underwater vehicles dikarenakan dinamika nonlinier-nya, model tak tentu, dan kemunculan disturbance yang susah untuk diukur atau diestimasi. Dinamika kontrol dari vehicle membutuhkan jaminan kestabilan dan tampil secara konsisten. Kesulitan masalah desain sistem kontrol pada dinamika AUV adalah metodologi desain tradisional linier tidak dapat diakomodasi secara mudah. Pada penelitian ini dibangun nonlinear disturbance observer yang didapatkan dari model predictive control law, digunakan untuk memprediksi melebihi horizon prediksi sehingga menghasilkan control signal sequences. Diharapkan output dapat mengikuti referensi yang diberikan juga melakukan noise cancelation dan online optimization. Dalam tesis ini, NMPC diterapkan langsung pada model nonlinier tanpa melakukan linierisasi terlebih dahulu untuk mengatasi masalah tracking control dalam pengaturan kedalaman pada MARES AUV. Hasil simulasi menunjukkan bahwa implementasi NMPC yang diusulkan dapat menggiring error kedalaman menuju 0 di waktu ke 1200 detik, sehingga hal ini membuktikan bahwa NMPC secara efektif dapat digunakan pada model nonlinear dengan multi input dan multi output. ============================================================================= Autonomous Underwater Vehicles (AUV) is a nonlinear system. Difficulties of control system design problems in underwater vehicles due to their nonlinear dynamics, indeterminate models, and the emergence of disturbances that are difficult to measure or estimate. The dynamics of control of the vehicle requires a guarantee of stability and consistent performance. The difficulty of control system design problem in AUV dynamics is the linear traditional design methodology can not be accommodated easily. In this thesis, a nonlinear disturbance observer build derived from predictive control law model, used to predict over prediction horizon to produce control signal sequences in order to follow the reference that given, noise cancelation, and online optimization, so NMPC applied directly to nonlinear model without doing linearization in advance to solve the problem of tracking control in depth control on the MARES AUV. The simulation results show that NMPC controllers herd the depth error to 0 at 1200 second so this approve that NMPC implementation can effectively be used on nonlinear models with multi input and multi output.

Item Type: Thesis (Masters)
Uncontrolled Keywords: AUV, tracking control, nonlinear system, MIMO system, Nonlinear Model Predictive Control
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering
T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL521.3 Automatic Control
Divisions: Faculty of Industrial Technology > Electrical Engineering > 20101-(S2) Master Thesis
Depositing User: Anindya Dwi Risdhayanti
Date Deposited: 26 Sep 2017 03:18
Last Modified: 06 Mar 2019 04:10
URI: http://repository.its.ac.id/id/eprint/44351

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