Kendali Sudut Hadap Kapal Tanpa Awak Dengan Moving Horizon Estimation - Nonlinear Model Predictive Control (MHE-NMPC)

Sayekti, Ulfa Inas (2020) Kendali Sudut Hadap Kapal Tanpa Awak Dengan Moving Horizon Estimation - Nonlinear Model Predictive Control (MHE-NMPC). Undergraduate thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Sistem kendali merupakan hal vital pada kapal tanpa awak. Kendali haluan pada kapal merupakan salah satu masalah kendali kapal dalam pertahanan dan keamanan wilayah perairan Indonesia. Kapal membutuhkan sistem navigasi, panduan, dan kendali yang mampu mengarahkan kapal untuk menghadap ke sudut hadap yang diinginkan, sehingga kondisi kapal tanpa awak dikendalikan secara autopilot. Metode yang digunakan untuk mengendalikan kemudi kapal menggunakan model matematika sistem nonlinear adalah metode nonlinear Model Predictive Control (NMPC). NMPC adalah salah satu metode yang tepat untuk sistem kendali karena NMPC bisa memprediksi output dari sistem. Agar input kendali lebih akurat maka dilakukan estimasi state model dengan menggunakan estimator Moving Horizon Estimaton (MHE). Hasil estimasi yang diperoleh kemudian digunakan pada metode kendali NMPC. Berdasarkan metode yang telah diterapkan pada model kapal, diperoleh hasil bahwa MHE NMPC dapat mengendalikan sistem yang mula-mula berada pada sudut yaw 30 derajat dapat mencapai sudut referensi 0 derajat. ========================================================= The control system is one of vital factor on the unmanned ship. The heading control for ships is one of the ship control problems in the defense and security of Indonesian waters. The ship requires a navigation system, guidance, and control, which capable of steering the ship to the desired viewpoint, so that the condition of the unmanned ship is controlled with autopilot. The method used to control the rudder of the ship using a nonlinear system mathematical model is the Nonlinear Model Predictive Control (NMPC) method. NMPC is one of the correct methods to control systems because NMPC can predict output of the system. So that the control input is more accurate, a model estimation is performed using the Moving Horizon Estimaton (MHE) estimator. Then the estimation results are used in the NMPC control method. Based on the method that has been applied for the ship model, the results show that MHE - MPC can control the system from a yaw angle of 30 degrees to a reference angle of 0 degrees.

Item Type: Thesis (Undergraduate)
Additional Information: RSMa 511.8 Say k-1
Uncontrolled Keywords: nonlinear model predictive control, moving horizon estimation, kendali, estimasi, kapal, nonlinear model predictive control, moving horizon estimation, control, estimation, ship
Subjects: Q Science
Q Science > QA Mathematics
Q Science > QA Mathematics > QA614.8 Differentiable dynamical systems
Divisions: Faculty of Science and Data Analytics (SCIENTICS) > Mathematics > 44201-(S1) Undergraduate Thesis
Depositing User: Ulfa Inas Sayekti
Date Deposited: 23 Aug 2020 07:27
Last Modified: 24 Sep 2020 05:48
URI: http://repository.its.ac.id/id/eprint/80546

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