Perbandingan PID Model Reference Adaptive Control dengan L1 Adaptive Control untuk Kemudi Kapal Tanpa Awak dalam Navigasi Waypoint

Farabi, Muh Alif (2018) Perbandingan PID Model Reference Adaptive Control dengan L1 Adaptive Control untuk Kemudi Kapal Tanpa Awak dalam Navigasi Waypoint. Undergraduate thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Agar kapal tanpa awak dapat melaju secara otomatis, diperlukan perangkat-perangkat dan algoritma navigasi. Salah satu contoh algoritma navigasi adalah waypoint.Untuk mengendalikan sebuah kapal tanpa awak menuju waypoint yang diinginkan, diperlukan kontrol sudut kemudi kapal. Kapal tanpa awak dapat menemui gangguan eksternal saat sedang berjalan seperti ombak,angin,dan arus laut. Namun diinginkan kapal tanpa awak dapat beradaptasi di kedua kondisi tersebut.Salah satu cara untuk mengatasi gangguan ini adalah dengan merancang kontroler adaptif seperti PID Model Reference Adaptive Control(MRAC) dan Kontroler adaptif L1. MRAC adalah sistem kontrol adaptif berbasis referensi model. Di mana untuk mengatur perilaku plant, diperlukan sebuah referensi model yang diinginkan. Kontroler PID MRAC akan menyesuaikan respon plant sedekat mungkin dengan respon referensi model yang diinginkan. Kontroler adaptif L1 adalah pengembangan dari MRAC di mana perbedaan kontroler adaptif L1 adalah memisahkan adaptation rate dengan properti ke robust-an. Kelebihan metode L1 adalah, kerobust-an terjamin dengan adaptasi cepat. Pada penelitian ini, akan dibandingkan performa PID MRAC dengan kontroler adaptif L1. Didapatkan performa kontroler adaptif L1 mampu memberikan cross track error lebih kecil yaitu sebesar 1,8965 meter RMS dibandingkan PID MRAC dengan cross track error sebesar 8,083 meter RMS pada saat kapal tanpa awak berjalan melalui titik-titik waypoint tanpa pengaruh lingkungan. Sementara saat dipengaruhi gaya angin, arus, dan ombak, cross track error kapal tanpa awak yang menggunakan kontroler adaptif L1 adalah 2,2603 meter RMS dan cross track error kontroler PID MRAC adalah 8,5488 meter RMS. =============== In order for unmanned surface vehicle to go automatically, navigation devices and algorithms are required. One example of a navigation algorithm is the waypoint. To control an unmanned surface vehicle to the desired waypoint, it is necessary to control the steering angle of the ship. Unmanned surface vehicle may encounter external disturbances while ongoing like waves, winds and ocean currents. But , it’s desired that unmanned surface vehicle can adapt in both conditions. One way to overcome this disturbance is to design adaptive controllers such as PID Model Reference Adaptive Control (MRAC) and L1 adaptive Controller. MRAC is a reference-based adaptive control system model. Where to regulate the behavior of the plant, a reference model is required. The MRAC PID controller will adjust the response of the plant as close as possible to the desired model reference response. The L1 adaptive controller is the development of the MRAC where the L1 adaptive controller difference is separation between the adaptation rate from the robust property. The advantages of L1 method are, robust is assured by quick adaptation. In this study, we compared the performance of the MRAC PID with the L1 adaptive controller for the unmanned ship steering angle. L1 adaptive controller performance was able to provide a smaller cross track error of 1.8965 meter RMS compared to the MRAC PID resulting in a cross track error of 8.083 meters RMS at the time the unmanned vessel goes through waypoint points without environmental influence. While when influenced by wind, waves, and waves, cross track error unmanned ship using L1 adaptive controller is 2.2603 meter RMS and cross track error unmanned ship using MRAC PID controller is 8,5488 meters RMS.

Item Type: Thesis (Undergraduate)
Uncontrolled Keywords: kapal tanpa awak, waypoint, PID MRAC, L1 adaptive control
Subjects: T Technology > TJ Mechanical engineering and machinery > TJ213 Automatic control.
T Technology > TJ Mechanical engineering and machinery > TJ223 PID controllers
T Technology > TK Electrical engineering. Electronics Nuclear engineering
U Military Science > UG1242 Drone aircraft--Control systems. (unmanned vehicle)
Divisions: Faculty of Electrical Technology > Electrical Engineering > (S1) Undergraduate Theses
Depositing User: Muh Alif Farabi E
Date Deposited: 05 Dec 2018 16:07
Last Modified: 05 Dec 2018 16:07
URI: http://repository.its.ac.id/id/eprint/53275

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