Perancangan Autopilot Fuzzy Sliding Mode Control Pada Rudal Air to Ground Terhadap Target Darat Bergerak

Bachtiar, Rifqi Althaaf (2026) Perancangan Autopilot Fuzzy Sliding Mode Control Pada Rudal Air to Ground Terhadap Target Darat Bergerak. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Rudal atau peluru kendali merupakan sistem senjata cerdas yang dirancang untuk menghancurkan target dengan presisi tinggi, sehingga keandalan dan akurasi autopilot menjadi faktor penting dalam keberhasilan misi sekaligus penekanan collateral damage. Saat menghadapi target bergerak, dibutuhkan autopilot yang robust, sehingga digunakan metode kendali nonlinier Sliding Mode Control (SMC). Namun, SMC konvensional menimbulkan chattering, yaitu osilasi frekuensi tinggi pada sinyal kendali yang menurunkan performa aktuator. Pada Tugas Akhir ini dirancang autopilot Fuzzy Sliding Mode Control (FSMC) berbasis single input fuzzy logic control yang mengatur penguatan pencapaian secara adaptif untuk meredam chattering tanpa mengorbankan kekokohan. Autopilot diuji bersama sistem pemandu Proportional Navigation pada model Air-to-Ground Missile 6 (AGM6) enam derajat kebebasan bermassa 1360 kg yang disimulasikan dalam bahasa C++, dengan gangguan angin 15 m/s, turbulensi, dan error sensor INS. Pada uji tracking sinyal step, FSMC mencatat RMSE percepatan normal 0,173 g dan lateral 0,157 g, lebih baik dibanding Pure SMC (0,192 g dan 0,178 g). Pengujian terintegrasi dilakukan terhadap empat skenario, mulai dari target stasioner hingga target bermanuver memutar. Hasil simulasi menunjukkan FSMC dan SMC boundary layer mampu melakukan direct hit pada seluruh skenario dengan miss distance di bawah 0,63 m, sementara RMSE lateral meningkat dari 0,014 g (target diam) hingga 0,125 g (target memutar) seiring beratnya manuver. Perbedaan paling signifikan terlihat pada metrik Total Variation (TV) sebagai indikator chattering: FSMC menjaga TV tetap rendah (sekitar 42–54 pada sumbu pitch dan 5–19 pada sumbu yaw), sedangkan Pure SMC melonjak hingga 5100–6250 (lebih dari 100 kali lipat). Dengan demikian, FSMC terbukti menghasilkan gerakan sirip kendali yang jauh lebih halus tanpa mengorbankan akurasi maupun kekokohan terhadap gangguan.
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A missile, or guided missile, is an intelligent weapon system designed to destroy targets with high precision, making the reliability and accuracy of the autopilot critical factors both in mission success and in minimizing collateral damage. When facing a moving target, a robust autopilot is required; therefore, the nonlinear control method Sliding Mode Control (SMC) is used. However, conventional SMC induces chattering, namely high-frequency oscillations in the control signal that degrade actuator performance. In this final project, a Fuzzy Sliding Mode Control (FSMC) autopilot based on a single input fuzzy logic control is designed, which adaptively adjusts the reaching gain to suppress chattering without sacrificing robustness. The autopilot is tested together with a Proportional Navigation guidance system on a six-degree-of-freedom Air-to-Ground Missile 6 (AGM6) model with a mass of 1360 kg, simulated in the C++ programming language, under a 15 m/s wind disturbance, turbulence, and INS sensor errors. In the step-signal tracking test, FSMC records a normal-acceleration RMSE of 0.173 g and a lateral RMSE of 0.157 g, outperforming Pure SMC (0.192 g and 0.178 g). The integrated testing is conducted on four scenarios, ranging from a stationary target to a circling maneuvering target. The simulation results show that FSMC and boundary-layer SMC are able to achieve a direct hit in all scenarios with a miss distance below 0.63 m, while the lateral RMSE increases from 0.014 g (stationary target) to 0.125 g (circling target) as the maneuver becomes more demanding. The most significant difference appears in the Total Variation (TV) metric as an indicator of chattering: FSMC keeps the TV low (around 42–54 on the pitch axis and 5–19 on the yaw axis), whereas Pure SMC surges to 5100–6250 (more than 100 times higher). Thus, FSMC is proven to produce far smoother control-fin motion without sacrificing accuracy or robustness against disturbances.Keywords: Missile, Autopilot, Fuzzy Sliding Mode Control, Missile Guidance System, Non-Linear Control.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Rudal, Autopilot,Fuzzy Sliding Mode Control, Sistem Pemandu Rudal, Kontrol Non-Linear,Missile, Autopilot, Fuzzy Sliding Mode Control, Missile Guidance System, Non-Linear Control.
Subjects:	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:	Rifqi Althaaf Bachtiar
Date Deposited:	27 Jul 2026 02:31
Last Modified:	27 Jul 2026 02:31
URI:	http://repository.its.ac.id/id/eprint/137536

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