Desain Kendali Autonomous Underwater Vehicle (AUV) Dengan Ballast Aktif Menggunakan Metode Fuzzy Sliding Mode Control

Akbar, Yusron Fattahillah (2022) Desain Kendali Autonomous Underwater Vehicle (AUV) Dengan Ballast Aktif Menggunakan Metode Fuzzy Sliding Mode Control. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Indonesia merupakan Negara Maritim yang berarti luas perairan yang lebih besar dari luas daratan. Untuk menjaga aset yang ada di dalam laut Indonesia, dibutuhkan suatu alat yang mampu menembus perairan yang dalam. Autonomous Underwater Vehicle (AUV) merupakan wahana bawah air tanpa awak yang mampu membantu manusia. Pada AUV terdapat tangki ballast, dimana tangki ballast ini berfungsi untuk menjaga keseimbangan posisi AUV. Dibutuhkan sistem kendali gerak pada AUV. Pada tugas akhir ini, akan dilakukan desain kendali untuk mengetahui sistem gerak yang optimal pada Autonomous Underwater Vehicle dengan ballast aktif menggunakan metode Fuzzy Sliding Mode Control. Gerak yang ditinjau pada penelitian ini hanya 3-DOF, yaitu surge, yaw, dan heave. Hasil simulasi dengan kendali FSMC memiliki hasil yang lebih bagus daripada sistem tanpa kendali. Sedangkan kendali SMC pada Autonomous Underwater Vehicle lebih baik jika dilihat dari sisi steady state error dan hittling time dibandingkan dengan keluaran yang dihasilkan oleh kendali FSMC. Namun desain kendali FSMC lebih baik untuk meminimalkan chattering dibandingkan dengan keluaran yang dihasilkan oleh kendali SMC.
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Indonesia is a maritime country which means the water area is larger than the land area. To protect assets in the Indonesian seas, a tool is needed that is able to penetrate deep waters. Autonomous Underwater Vehicle (AUV) is an unmanned underwater vehicle capable of helping humans. In the AUV there is a ballast tank, where this ballast tank serves to maintain the balance of the AUV position. A motion control system is needed on the AUV. In this final project, a control design will be carried out to determine the optimal motion system on an Autonomous Underwater Vehicle with an active ballast using the Fuzzy Sliding Mode Control method. The motion that is reviewed in this study is only 3-DOF, namely surge, yaw, and heave. Simulation results with FSMC control have better results than systems without control. Meanwhile, the SMC control on the Autonomous Underwater Vehicle is better in terms of steady state error and hittling time compared to the output produced by the FSMC control. However, the design of the FSMC control is better for minimizing chattering compared to the output produced by the SMC control.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Autonomous Underwater Vehicle, Desain Kendali, Fuzzy Sliding Mode Control, Autonomous Underwater Vehicle, Design Control
Subjects:	Q Science > Q Science (General) > Q180.55.M38 Mathematical models Q Science > QA Mathematics > QA9.64 Fuzzy logic T Technology > TJ Mechanical engineering and machinery > TJ217.2 Robust control V Naval Science > VM Naval architecture. Shipbuilding. Marine engineering > VM365 Remote submersibles. Autonomous vehicles.
Divisions:	Faculty of Science and Data Analytics (SCIENTICS) > Mathematics > 44201-(S1) Undergraduate Thesis
Depositing User:	Yusron Fattahillah Akbar
Date Deposited:	09 Feb 2022 01:38
Last Modified:	31 Oct 2022 01:42
URI:	http://repository.its.ac.id/id/eprint/93280

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