Perancangan Sistem Kendali Auto Trajectory Pada Autonomous Floater Glider Untuk Kondisi Perairan Tenang Berbasis Sistem Logika Fuzzy.

Nuzula, Firdausy (2022) Perancangan Sistem Kendali Auto Trajectory Pada Autonomous Floater Glider Untuk Kondisi Perairan Tenang Berbasis Sistem Logika Fuzzy. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Autonomous floater glider (AFG) merupakan sebuah alat yang sedang dikembangkan oleh Laboratorium Hidrodinamika Indonesia. AFG merupakan alat deteksi tsunami yang digunakan untuk mengumpulkan data kelautan sebanyak-banyaknya. AFG saat ini dikembangkan dalam skala laboratorium, tidak meninjau gangguan di lautan dan diracang tanpa awak, sehingga belum dapat memenuhi target apabila direncanakan untuk memenuhi target lintasan yang telah ditentukan. Penelitian ini mengusulkan perancangan sistem kendali auto trajectory pada autonomous floater glider yang berbasis sistem kontrol logika fuzzy tipe 1 milik Mamdani agar floater glider bisa bergerak sesuai dengan titik lintasan yang telah ditetapkan. Adanya error lintasan yang dihasilkan akibat noise pengukuran dari sensor gyrcompass kemudian diminimalkan dengan menambahkan Filter Kalman. Hasil penelitian menunjukkan bahwa sistem yang dirancang mampu mengendalikan sudut haluan floater glider sesuai dengan standar IMO, di mana untuk set point 10° dan 20°, masing-masing menghasilkan maximum overshoot sebesar 0,39° dan 0,40°. Penggunaan Filter Kalman mampu meminimalkan nilai error yang dihasilkan akibat noise dengan nilai error untuk masing-masing lintasan yang masih berada dalam rentang permitted radius, yaitu 0,05lpp untuk lintasan lurus dan 0,07Lpp untuk lintasan belok.
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The metal-water hydrolysis reaction is one of the most promising ways to produce clean and economical hydrogen. This final project will review the thickness of aluminum waste An autonomous floater glider (AFG) is a tool that is being developed by the Indonesian Hydrodynamics Laboratory. AFG is a tsunami detection tool that is used to collect as much marine data as possible. AFG is currently being developed on a laboratory scale, does not review disturbances in the ocean, and is designed without a crew, so it cannot meet the target if it is planned to meet the predetermined trajectory target. This study proposes the design of an auto trajectory control system on an autonomous floater glider based on Mamdani's type 1 fuzzy logic control system so that the floater glider can move according to a predetermined trajectory point. The path error generated due to measurement noise from the gyrocompass sensor is then minimized by adding a Kalman Filter. The results showed that the designed system was able to control the bow angle of the floater glider in accordance with IMO standards, where for the set points of 10° and 20°, each resulted in a maximum overshoot of 0.39° and 0.40°. The use of the Kalman Filter is able to minimize the error value generated due to noise with an error value for each track that is still within the permitted radius range, namely 0.05 Lpp for straight lines and 0.07 Lpp for turning routes.

Item Type:	Thesis (Other)
Additional Information:	RSF 629.89 Nuz p-1 2022
Uncontrolled Keywords:	Autonomous Floater Glider, Logika Fuzzy, Noise Pengukuran. Autonomous Floater Glider, Fuzzy Logic, Noise Measurement.
Divisions:	Faculty of Industrial Technology and Systems Engineering (INDSYS) > Physics Engineering > 30201-(S1) Undergraduate Thesis
Depositing User:	Mr. Marsudiyana -
Date Deposited:	11 May 2026 02:56
Last Modified:	11 May 2026 02:56
URI:	http://repository.its.ac.id/id/eprint/133104

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