Perancangan Sistem Kendali Optimal Linear Quadratic Regulator (LQR) pada Autonomous Underwater Vehicle (AUV) dengan Pengaruh Gangguan Arus Laut

Zhafirah, Alifia Azka (2023) Perancangan Sistem Kendali Optimal Linear Quadratic Regulator (LQR) pada Autonomous Underwater Vehicle (AUV) dengan Pengaruh Gangguan Arus Laut. Other thesis, Institut Teknologi Sepuluh Nopember.

Text 02311940000134-Undergraduate_Thesis.pdf - Accepted Version Restricted to Repository staff only until 1 October 2025. Download (3MB) | Request a copy

Abstract

Autonomous Underwater Vehicle (AUV) merupakan kendaraan bawah air yang dioperasikan dari jarak jauh dan otonom untuk menjelajah di kedalaman yang ekstrim yang mampu melakukan misi pengawasan. AUV ini dirancang agar dapat bergerak stabil pada posisi yang diinginkan dan mengikuti lintasan yang telah ditentukan tanpa bantuan operator manusia. Pada penelitian ini dirancang sistem kendali gerak AUV berbasis Linear Quadratic Regulator (LQR) dan disimulasikan untuk mencapai waypoint yang dituju. Perancangan sistem kendali dilakukan secara simulasi dengan software MATLAB R2020b. Penelitian ini menggunakan gangguan arus dengan kecepatan 0.17 m/s dan 0.03 m/s. Hasil penelitian menunjukkan bahwa pengujian sistem kendali LQR yang dilakukan secara close loop memiliki nilai overshoot 0, serta mampu mempertahankan kestabilan sistem. Hasil pengujian sistem kendali untuk lintasan lurus dan belok, AUV mampu mampu mengikuti lintasan yang telah ditentukan baik tanpa gangguan dan dengan adanya gangguan arus laut. Nilai rata-rata error yang dihasilkan pada masing-masing lintasan masih berada pada rentang nilai radius aman yaitu ≤1.46 m (≤2Lpp). Sehingga, pada penelitian ini metode LQR mampu digunakan sebagai sistem kendali gerak AUV.
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Autonomous Underwater Vehicle (AUV) is a remotely operated and autonomous underwater vehicle for exploring extreme depths capable of performing surveillance missions. This AUV is designed to be able to move stably in the desired position and follow a predetermined trajectory without the help of a human operator. In this research, a Linear Quadratic Regulator (LQR) based AUV motion control system is designed and simulated to reach the intended waypoint. The design of the control system is carried out in simulation with MATLAB R2020b software. This research uses current disturbances with speeds of 0.17 m/s and 0.03 m/s. The results showed that testing the LQR control system carried out in close loop has an overshoot value of 0 and is able to maintain system stability. The results of testing the control system for straight and turning trajectories, the AUV is able to follow the predetermined trajectory both without interference and in the presence of ocean current disturbances. The average error value generated on each trajectory is still within the safe radius value range of ≤1.46 m (≤2Lpp). So, in this research, the LQR method can be used as an AUV motion control system.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Arus Laut, Autonomous Underwater Vehicle (AUV), LQR, Autonomous Underwater Vehicle (AUV), LQR, Ocean Currents.
Subjects:	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 Industrial Technology > Physics Engineering > 30201-(S1) Undergraduate Thesis
Depositing User:	Alifia Azka Zhafirah
Date Deposited:	26 Jul 2023 05:11
Last Modified:	26 Jul 2023 05:11
URI:	http://repository.its.ac.id/id/eprint/99322

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