Koordinator Kontrol Menggunakan Fuzzy Logic Controller untuk Mengatur Kedalaman Kapal Selam Otonom (AUV)

Wicaksono, Agam Dwi (2023) Koordinator Kontrol Menggunakan Fuzzy Logic Controller untuk Mengatur Kedalaman Kapal Selam Otonom (AUV). Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Unmanned Underwater Vehicle (UUV) merupakan sebuah inovasi yang penting dalam membantu manusia mengeksplor dan mempelajari lingkungan bawah laut yang sulit untuk dijamah manusia. Karena AUV merupakan robot bawah laut, kemampuan menyelam dan bergerak dibawah laut menjadi kunci keberhasilannya dalam menjalankan misi. Untuk itu, diimplementasikanlah ballast tank ke AUV untuk mengendalikan kedalaman dan orientasi AUV. Pada tugas akhir ini, digunakan fuzzy logic controller untuk mengendalikan volume dan massa ballast tank dengan tujuan agar AUV dapat mencapai kemiringan yang dibutuhkan untuk mencapai kedalaman yang diinginkan dalam waktu yang diinginkan. Dari simulasi, fuzzy logic controller berhasil melakukan kontrol terhadap AUV tersebut yang ditandai dengan tercapainya setpoint kedalaman yang diberikan dalam kurun waktu yang sudah diberikan. Kemudian AUV dapat mempertahankan kedalamannya pada setpoint tersebut dengan mengubah orientasinya.
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The Unmanned Underwater Vehicle (UUV) is an important innovation in helping humans explore and study underwater environments that are difficult for humans to reach. Various fields are benefited from this such as research, commercial, and military. Because the AUV is an underwater robot, the ability to dive and move under the sea is the key to its success in carrying out missions. For this reason, a ballast tank-nya was implemented for the AUV to control the depth and orientation of the AUV. In this final project, a fuzzy logic controller is used to control the volume and mass of ballast tanks with the aim that the AUV can reach the required pitch angle to reach the desired depth in the desired time. From the simulation, the fuzzy logic controller has succeeded in controlling the AUV marked by the achieved setpoint in given time.The AUV also able to retain its depeth after achieveng the desired depth by changing its orientation.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	AUV, Autonomous Underwater Vehicle, Fuzzy logic, Ballast tank AUV, Autonomous Underwater Vehicle, Fuzzy logic, Ballast tank
Subjects:	T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK3070 Automatic control T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL152.8 Vehicles, Remotely piloted. Autonomous vehicles.
Divisions:	Faculty of Intelligent Electrical and Informatics Technology (ELECTICS) > Electrical Engineering > 20201-(S1) Undergraduate Thesis
Depositing User:	Agam Dwi Wicaksono
Date Deposited:	26 Jul 2023 15:04
Last Modified:	26 Jul 2023 15:04
URI:	http://repository.its.ac.id/id/eprint/99495

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