Juniar, Emilta Friska (2025) Kendali Gerak Kapal Tanpa Awak Dengan Adanya Gangguan Menggunakan Nonlinear Disturbance Observer - Nonlinear Model Predictive Control (NDO-NMPC). Masters thesis, Institut Teknologi Sepuluh Nopember.
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Abstract
Kapal tanpa awak adalah jenis transportasi laut yang dirancang untuk beroperasi secara otonom. Namun, dalam lingkungan laut yang kompleks, kapal menghadapi tantangan berupa gangguan eksternal yang dapat memengaruhi stabilitas dan ketahanan sistem kendali gerak kapal. Penelitian ini bertujuan untuk merancang sistem kendali gerak kapal extended korvet SIGMA dengan mempertimbangkan adanya gangguan. Metode Nonlinear Disturbance Observer (NDO) digunakan untuk mengestimasi gangguan secara real-time, yang hasil estimasinya digunakan untuk memperbarui model prediksi dalam desain kendali Disturbance Compensating - Nonlinear Model Predictive Control (DC - NMPC). Hasil penelitian menunjukkan bahwa hasil estimasi gangguan menggunakan NDO hampir mendekati nilai gangguan aktual, dibuktikan oleh nilai RMSE yang kecil. Akurasi estimasi ini dipengaruhi oleh pemilihan matriks gain observer yang tepat. Selain itu, desain kendali DC - NMPC berhasil mengarahkan gerak kapal mengikuti lintasan referensi dengan baik, dengan hasil kendali yang akurat dan RMSE yang kecil. Kendala pada variabel kecepatan sudut yaw dan sudut rudder juga sudah memenuhi batas yang ditentukan. Secara keseluruhan, sistem kendali DC - NMPC menunjukkan kinerja yang efektif untuk mengatasi gangguan kecil, sehingga kapal tetap stabil dan berjalan sesuai lintasan referensi.
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An unmanned vessel is a type of maritime transportation designed to operate autonomously. However, in complex marine environments, the vessel encounters challenges from external disturbances that can affect the stability and robustness of its motion control system. This study aims to design a motion control system for the extended corvette SIGMA while accounting for disturbances. The Nonlinear Disturbance Observer (NDO) method is employed to estimate disturbances in real time, with the estimated results being utilized to update the predictive model in the Disturbance Compensating - Nonlinear Model Predictive Control (DC - NMPC) framework. The results demonstrate that disturbance estimation using NDO closely approximates the actual disturbance values, as indicated by the low RMSE values. The accuracy of the estimation is influenced by the appropriate selection of the observer gain matrix. Furthermore, the DC - NMPC control design successfully directs the vessel’s motion to follow the reference trajectory, delivering accurate control results with a low RMSE. The constraints on the yaw angle velocity variable and rudder angle have met the specified limits. Overall, the DC - NMPC control system showed effective performance in compensating for small disturbances, ensuring the vessel remains stable and follows the desired trajectory.
| Item Type: | Thesis (Masters) |
|---|---|
| Uncontrolled Keywords: | Maritim, Kendali Gerak Kapal Extended Korvet SIGMA, Nonlinear Disturbance Observer (NDO), Disturbance Compensating, Nonlinear Model Predictive Control (NMPC) Maritime, SIGMA Extended Corvette’s Motion Control, Nonlinear Disturbance Observer (NDO), Disturbance Compensating, Nonlinear Model Predictive Control (NMPC) |
| Subjects: | Q Science > QA Mathematics > QA401 Mathematical models. Q Science > QA Mathematics > QA402 System analysis. |
| Divisions: | Faculty of Science and Data Analytics (SCIENTICS) > Mathematics > 44101-(S2) Master Thesis |
| Depositing User: | Emilta Friska Juniar |
| Date Deposited: | 31 Jan 2025 03:13 |
| Last Modified: | 31 Jan 2025 03:13 |
| URI: | http://repository.its.ac.id/id/eprint/117347 |
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