Perancangan Sistem Kendali Optimal Linier Quadratic Gaussian (LQG) Sebagai Auto Trajectory Pada Floater Glider

Aulintang, Nuriza (2022) Perancangan Sistem Kendali Optimal Linier Quadratic Gaussian (LQG) Sebagai Auto Trajectory Pada Floater Glider. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Badan Riset dan Inovasi Nasional (BRIN) mengembangkan floater glider untuk monitoring kelautan Indonesia. Floater glider merupakan kapal tanpa awak, sehingga perlu dilakukan sistem auto trajectory sebagai strategi dalam pengendalian untuk haluan floater glider agar tetap berada pada trayektori yang telah ditentukan. Penelitian ini mengusulkan sistem kendali Linear Quadratic Gaussian (LQG) untuk diterapkan pada floater glider. Model dinamika floater glider dinyatakan dalam bentuk ruang keadaan (state space). Perancangan sistem kendali dilakukan secara simulasi dengan software MATLAB R2020b. Pengujian yang dilakukan antara lain yakni uji kestabilan, uji keterkendalian, uji keteramatan, uji openloop, uji close loop, dan uji lintasan. Gangguan yang digunakan pada simulasi yakni gangguan gelombang setinggi 0.5 meter. Metode LQG menghasilkan performansi yang baik, dengan ditandai saat pengujian tanpa adanya gangguan gelombang pada uji lintasan lurus menghasilkan error lintasan rata-rata sebesar 0.056 meter, sedangkan ketika ada gangguan menghasilkan error lintasan rata-rata sebesar 0.455 meter. Pengujian pada lintasan belok tanpa adanya gangguan gelombang menghasilkan error rata-rata sebesar 0.057 meter, sedangkan ketika ada gangguan gelombang menghasilkan error sebesar 0.882 meter. Error yang dihasilkan masih memenuhi aturan circle of acceptance. Metode LQG mampu digunakan sebagai sistem kendali auto trajectory floater glider.
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Badan Riset dan Inovasi Nasional (BRIN) developed a floater glider for Indonesian marine monitoring. Floater gliders are unmanned vessels, so it is necessary to use an auto trajectory system as a control strategy for the heading floater glider to stay in a predetermined trajectory. This study proposes a Linear Quadratic Gaussian (LQG) control system to be applied to floater glider. The floater glider dynamics model is expressed in state space. The design of the control system is carried out in a simulation using MATLAB R2020b software. The tests carried out include stability tests, controllability tests, observability tests, open loop tests, close loop tests, and trajectory tests. The disturbance used in the simulation is a high wave disturbance of 0.5 meters. The LQG method produces good performance, when testing without disturbance on the straight trajectory test resulted in an average trajectory error of 0.056 meters, whereas when there was disturbance it produced an average trajectory error of 0.455 meters. Tests on the turning trajectory without wave interference resulted in an average error of 0.057 meters, whereas when there was interference it produced an error of 0.882 meters. The resulting error still complies with the acceptance loop rule. The LQG method can be used as an auto trajectory floater glider control system.

Item Type:	Thesis (Other)
Additional Information:	RSF 629.832 Aul p-1 2022
Uncontrolled Keywords:	Auto Trajectory, Floater Glider, Sistem Kendali LQG, LQG Control System
Subjects:	T Technology > T Technology (General) > T57.74 Linear programming
Divisions:	Faculty of Industrial Technology and Systems Engineering (INDSYS) > Physics Engineering > 30201-(S1) Undergraduate Thesis
Depositing User:	Anis Wulandari
Date Deposited:	06 Mar 2023 03:28
Last Modified:	06 Mar 2023 03:28
URI:	http://repository.its.ac.id/id/eprint/97736

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