Perancangan dan Implementasi Guidance Law Berbasis Line-of-Sight pada USV di Lingkungan dengan Gangguan

Akbar, Muhammad Alifuddin (2025) Perancangan dan Implementasi Guidance Law Berbasis Line-of-Sight pada USV di Lingkungan dengan Gangguan. Masters thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Penelitian ini mengusulkan dua strategi kontrol untuk meningkatkan performansi guidance dan kestabilan roll pada USV. Strategi pertama adalah mengembangkan referensi kecepatan surge yang dipadukan dengan Adaptive Line-of-Sight (ALOS), disebut sebagai Improved Surge Speed Adaptive LOS (ISS-ALOS). Perhitungan dilakukan berdasarkan kelengkungan lintasan, cross-track error (XTE), dan laju perubahan XTE. Metode ini dikembangkan untuk meningkatkan kemampuan sistem guidance USV, dan diuji pada lintasan kurva dengan berbagai variasi tingkat kelengkungan serta lintasan kotak yang memiliki belokan tajam guna menunjukkan kemampuan metode tersebut. Hasil pengujian menunjukkan bahwa ISS-ALOS mampu meningkatkan performa sistem guidance dan mencegah nilai XTE menjadi terlalu besar pada belokan yang tajam. Strategi kedua adalah Dynamic Gain LQR yang mengubah matriks pembobot Q menjadi fungsi yang nilainya berubah berdasarkan nilai eror heading. Ketika eror heading besar, kontrol lebih difokuskan untuk melakukan koreksi pada arah kapal; sedangkan ketika eror kecil, kontrol difokuskan pada peredaman roll. Pendekatan ini menunjukkan performansi yang lebih baik dibandingkan dengan LQR konvensional berbobot tetap maupun Switching Gain LQR. Pengujian dilakukan baik pada heading konstan maupun saat mengikuti lintasan. Kombinasi ISS-ALOS dan Dynamic Gain LQR menunjukkan bahwa kapal mampu mengikuti lintasan dengan baik meskipun terdapat gangguan ombak yang tegak lurus terhadap lintasan, dengan kecenderungan kapal sedikit menyimpang melawan arah datangnya ombak untuk meredam efek ombak. Hasil menunjukkan bahwa strategi yang diusulkan efektif dalam menghadapi variasi lintasan dan dengan gangguan lingkungan.
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This study proposes two control strategies to improve the guidance performance and roll stability of the USV . The first strategy is to develop a surge speed reference combined with Adaptive Line-of-Sight (ALOS), referred to as Improved Surge Speed Adaptive LOS (ISS-ALOS). The calculation is based on path curvature, cross-track error (XTE), and the rate of change of XTE. This method was developed to enhance the guidance system capability of the USV and was tested on curved paths with various levels of curvature as well as square-shaped paths with sharp turns to demonstrate the method's capability. Test results show that ISS-ALOS is able to improve the performance of the guidance system and prevent the XTE value from becoming too large at sharp turns. The second strategy is Dynamic Gain LQR, which changes the Q weighting matrix into a function whose value varies based on the heading error. When the heading error is large, the control is more focused on correcting the vessel's direction; whereas when the error is small, the control is focused on roll damping. This approach shows better performance compared to conventional fixed-weighted LQR and Switching Gain LQR. Tests were conducted both on constant heading and during path following. The combination of ISS-ALOS and Dynamic Gain LQR shows that the vessel is able to follow the path well even in the presence of wave disturbances that are perpendicular to the path, with the vessel tending to slightly deviate against the direction of the incoming waves to dampen the wave effect. Results show that the proposed strategy is effective in dealing with path variations and environmental disturbances.

Item Type:	Thesis (Masters)
Uncontrolled Keywords:	(Adaptive Line-of-Sight, Guidance, Dynamic Gain LQR, Roll Stabilization, Unmanned Surface Vehicle,
Subjects:	T Technology > T Technology (General) > T57.62 Simulation 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 U Military Science > UG1242 Drone aircraft--Control systems. (unmanned vehicle)
Divisions:	Faculty of Intelligent Electrical and Informatics Technology (ELECTICS) > Electrical Engineering > 20101-(S2) Master Thesis
Depositing User:	Muhammad Alifuddin Akbar
Date Deposited:	26 Jul 2025 13:22
Last Modified:	26 Jul 2025 13:22
URI:	http://repository.its.ac.id/id/eprint/121656

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