Perancangan Sistem Kendali Gerak Autonomous Underwater Vehicle (AUV) dengan Pengaruh Gangguan Arus Laut Berbasis Adaptive Neuro-Fuzzy Inference System (ANFIS)

Susilo, Ridinta Nabila Fitria (2023) Perancangan Sistem Kendali Gerak Autonomous Underwater Vehicle (AUV) dengan Pengaruh Gangguan Arus Laut Berbasis Adaptive Neuro-Fuzzy Inference System (ANFIS). Other thesis, Institut Teknologi Sepuluh Nopember.

Text 02311940000038_Undergraduate_Thesis.pdf - Accepted Version Restricted to Repository staff only until 1 October 2025. Download (3MB) | Request a copy

Abstract

Data menunjukkan bahwa hanya 5% dari laut yang berhasil dieksplorasi oleh manusia. Laut dalam merupakan lingkungan yang sulit diakses dan belum sepenuhnya dieksplorasi oleh manusia. Maka dari itu dibutuhkan suatu teknologi untuk membantu manusia mengidentifikasi sumber daya laut. AUV yang bergerak di bidang horizontal dapat digunakan untuk melakukan survei dan eksplorasi laut dalam dengan kemampuan navigasi yang presisi. Penelitian ini melakukan perancangan model ANFIS sebagai sistem kendali AUV tipe LoCO dengan variabel kendali surge, sway, dan yaw. Pembangunan model ANFIS dikembangkan atas dasar data hasil simulasi pengendali PID. Aristektur ANFIS terdiri dari 2 input, 7 jumlah fungsi keanggotaan dan menggunakan fungsi keanggoataan Triangle. Model pengendali diuji secara simulasi. Hasil simulasi menunjukkan bahwa penggunaan Sistem pengendali ANFIS yang dirancang dikatakan memiliki nilai performansi yang baik, dimana kriteria error steady state adalah kurang dari 5%. Performansi dari sistem pengendali AUV LoCO menggunakan ANFIS juga terbukti dapat mengikuti lintasan waypoint dengan baik karena mampu mencapai circle of acceptance.
================================================================================================================================
Data shows that only 5% of the ocean is successfully explored by humans. The deep sea is a difficult environment to access and has not been fully explored by humans. Therefore, technology is needed to help humans identify marine resources. AUVs engaged in the horizontal plane can be used to conduct deep-sea surveys and explorations with precise navigation capabilities. This study designed the ANFIS model as a LoCO type AUV control system with surge, sway, and yaw control variables. The development of the ANFIS model was developed on the basis of data from PID controller simulations. ANFIS architecture consists of 2 inputs, 7 number of membership functions and uses the Triangle membership function. The driver model is tested simulatedly. The simulation results show that the use of the ANFIS control system designed is said to have a good performance value, where the steady state error criterion is less than 5%. The performance of the AUV LoCO control system using ANFIS is also proven to be able to follow the waypoint trajectory well because it is able to reach the circle of acceptance.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	ANFIS, AUV, Control, LoCO, Waypoint, Kontrol
Subjects:	T Technology > TJ Mechanical engineering and machinery > TJ217 Adaptive control systems T Technology > TJ Mechanical engineering and machinery > TJ223 PID controllers
Divisions:	Faculty of Industrial Technology and Systems Engineering (INDSYS) > Physics Engineering > 30201-(S1) Undergraduate Thesis
Depositing User:	Ridinta Nabila Fitria Susilo
Date Deposited:	25 Jul 2023 06:18
Last Modified:	25 Jul 2023 06:18
URI:	http://repository.its.ac.id/id/eprint/99201

Actions (login required)

View Item