Desain dan Implementasi Fuzzy Logic Controller untuk Kontrol Manuver Yaw dan Pitch pada Autonomous Underwater Vehicle

Prasetyo, Ilham Wahyu Eko (2025) Desain dan Implementasi Fuzzy Logic Controller untuk Kontrol Manuver Yaw dan Pitch pada Autonomous Underwater Vehicle. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Perkembangan teknologi Autonomous Underwater Vehicle (AUV) telah mengalami kemajuan signifikan, khususnya dalam penelitian di Indonesia untuk survei bawah laut, pengukuran lingkungan, keamanan, dan eksplorasi perairan. AUV berperan sebagai kendaraan tanpa awak yang mampu melakukan navigasi secara mandiri di lingkungan bawah air. Namun, tantangan utama yang dihadapi dalam operasional AUV adalah dinamika lingkungan bawah air yang kompleks, termasuk arus tidak terprediksi, perubahan suhu, serta turbulensi air yang dapat memengaruhi kestabilan dan performa AUV. Penelitian ini bertujuan untuk merancang dan mengimplementasikan sistem kontrol berbasis Fuzzy Logic Controller (FLC) guna meningkatkan kestabilan dan akurasi manuver AUV pada sumbu yaw dan pitch. Metodologi yang digunakan meliputi perancangan model kinematika dan dinamika AUV, desain kontroler fuzzy, simulasi sistem, serta pengujian eksperimen berbasis mikrokontroler Arduino Mega 2560 dan sensor IMU BNO055. Motor DC digunakan sebagai propulsi utama, sementara motor stepper dengan driver TB6600 berfungsi mengontrol sudut kemudi rudder dan stern. Hasil eksperimen menunjukkan bahwa sistem kontrol Fuzzy Logic Controller mampu memberikan respons yang lebih adaptif terhadap variasi setpoint sudut dibandingkan metode kontrol konvensional. Pengujian pada beberapa skenario manuver menunjukkan performa sistem yang stabil, dengan error steady-state yang rendah serta waktu respon yang lebih cepat dalam mencapai setpoint. Kesimpulan dari penelitian ini menegaskan bahwa pendekatan berbasis FLC efektif dalam meningkatkan kestabilan dan manuverabilitas AUV dalam lingkungan yang dinamis. Penelitian ini diharapkan dapat berkontribusi pada pengembangan teknologi maritim di Indonesia, terutama dalam bidang survei bawah laut, pemetaan perairan, serta eksplorasi sumber daya kelautan. Inovasi dalam sistem kendali AUV perlu terus dikembangkan untuk mendukung efektivitas dan efisiensi operasi di lingkungan bawah laut yang semakin kompleks
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The development of Autonomous Underwater Vehicle (AUV) technology has made significant progress, particularly in research in Indonesia for underwater surveys, environmental measurements, security, and water exploration. AUV serves as an unmanned vehicle capable of autonomous navigation in underwater environments. However, the main challenge in AUV operations lies in the complex dynamics of underwater environments, including unpredictable currents, temperature changes, and water turbulence, which can affect AUV stability and performance. This research aims to design and implement a Fuzzy Logic Controller (FLC)-based control system to improve the stability and maneuvering accuracy of AUV in the yaw and pitch axes. The methodology includes the design of AUV kinematic and dynamic models, fuzzy controller design, system simulation, and experimental testing based on the Arduino Mega 2560 microcontroller and IMU BNO055 sensor. A DC motor is used as the main propulsion, while a stepper motor with a TB6600 driver functions to control the rudder and stern steering angles. Experimental results show that the Fuzzy Logic Controller control system provides a more adaptive response to variations in angle setpoints compared to conventional control methods. Testing across various maneuvering scenarios demonstrates stable system performance, with low steady-state error and faster response time in reaching the setpoint. The findings of this study confirm that the FLC-based approach is effective in enhancing AUV stability and maneuverability in dynamic environments. This research is expected to contribute to the development of maritime technology in Indonesia, particularly in underwater surveys, water mapping, and marine resource exploration. Innovation in AUV control systems must continue to be developed to support operational effectiveness and efficiency in increasingly complex underwater environments

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Autonomous Underwater Vehicle, Fuzzy Logic Controller, Hidrodinamika, Kendali Manuver, Kontrol Cerdas, Autonomous Underwater Vehicle, Fuzzy Logic Controller, Maneuvering Control, Hydrodynamics, Intelligent Control
Subjects:	Q Science Q Science > Q Science (General) T Technology > TA Engineering (General). Civil engineering (General) > TA593.35 Instruments, cameras, etc. T Technology > TK Electrical engineering. Electronics Nuclear engineering T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK3070 Automatic control T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK5102.9 Signal processing. T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK7878 Electronic instruments T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL152.8 Vehicles, Remotely piloted. Autonomous vehicles. T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL521.3 Automatic Control
Divisions:	Faculty of Intelligent Electrical and Informatics Technology (ELECTICS) > Electrical Engineering > 20201-(S1) Undergraduate Thesis
Depositing User:	Ilham Wahyu Eko Prasetyo
Date Deposited:	01 Feb 2025 07:36
Last Modified:	01 Feb 2025 07:36
URI:	http://repository.its.ac.id/id/eprint/117427

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