Perancangan Sistem Kendali Gerak Autonomous Underwater Vehicle (AUV) Tipe Double-Hull Berbasis Fuzzy-PID

Kusumawidjaya, Carollina (2022) Perancangan Sistem Kendali Gerak Autonomous Underwater Vehicle (AUV) Tipe Double-Hull Berbasis Fuzzy-PID. Other thesis, Institut Teknologi Sepuluh Nopember.

Text 02311840000073-Undergraduate_Thesis.pdf - Accepted Version Download (7MB)

Abstract

Autonomous Underwater Vehicle (AUV) merupakan salah satu alat yang dikembangkan untuk melaksanakan misi eksplorasi laut dalam. Tidak adanya operator manusia dalam AUV membuat sistem kendali gerak yang robust menjadi penting untuk AUV dalam menjalankan misi. AUV tipe double-hull memiliki kemampuan operasi jangka panjang yang efektif digunakan dalam eksplorasi laut dalam, namun umumnya bersifat under-actuated dan memiliki karakteristik hidrodinamika yang rumit. Tantangan lainnya dalam merancang kendali gerak untuk AUV tipe double-hull adalah adanya gangguan eksternal seperti arus laut yang dapat menurunkan performansi sistem kontrol. Kontroler PID yang umumnya digunakan kurang adaptif dalam mengendalikan sistem nonlinier seperti AUV di bawah gangguan. Penelitian terdahulu membuktikan bahwa algoritma adaptif seperti logika fuzzy terbukti mampu membantu PID melakukan self-tuning dan meningkatkan performansi sistem kendali gerak. Pada penelitian ini dirancang sistem kendali gerak AUV tipe double-hull berbasis fuzzy-PID dan disimulasikan untuk mencapai waypoint yang dituju. Hasil menunjukkan bahwa sistem kendali yang diajukan bekerja dengan lebih baik dibandingkan kontroler PID biasa, bahkan di bawah gangguan arus laut ekstrim berkecepatan 41 m/s.
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One of the technologies created to conduct deep sea exploration expeditions is the autonomous underwater vehicle (AUV). The AUV's lack of a human operator necessitates the use of a reliable motion control system. The double-hull type AUV has a long-term operational capability that is useful for deep water exploration, although it is typically under-actuated and has complex hydrodynamic characteristics. Another difficulty in designing motion control for a double-hull AUV is the existence of external disturbances like ocean currents, which might degrade the control system's performance. PID controllers are less adaptive in nonlinear systems like AUVs that are subjected to disturbances. Adaptive algorithms such as fuzzy logic have been shown in previous study to aid PID in self tuning and improving motion control system performance. To attain the intended waypoint, a fuzzy-PID-based double-hull AUV motion control system was devised and simulated in this study. Even under extreme sea current disturbances of 41 m/s, the suggested control system outperforms typical PID controllers, according to the results.

Item Type:	Thesis (Other)
Additional Information:	RSF 629.89 Kus p-1 2022
Uncontrolled Keywords:	Autonomous Underwater Vehicle (AUV), PID, Fuzzy,
Subjects:	Q Science > QA Mathematics > QA39.3 Fuzzy mathematics V Naval Science > VM Naval architecture. Shipbuilding. Marine engineering > VM365 Remote submersibles. Autonomous vehicles.
Divisions:	Faculty of Industrial Technology and Systems Engineering (INDSYS) > Physics Engineering > 30201-(S1) Undergraduate Thesis
Depositing User:	- Davi Wah
Date Deposited:	18 Sep 2024 05:27
Last Modified:	18 Sep 2024 05:27
URI:	http://repository.its.ac.id/id/eprint/115630

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