Perancangan Sistem Kendali Heading Kapal Kontainer Menggunakan Linear Model Predictive Control

Azzahra, Dita (2025) Perancangan Sistem Kendali Heading Kapal Kontainer Menggunakan Linear Model Predictive Control. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Transportasi laut memiliki peran penting dalam mendukung distribusi logistik di Indonesia sebagai negara kepulauan. Namun, gangguan gelombang laut dapat menyebabkan penyimpangan arah haluan (heading deviation) yang menurunkan kualitas navigasi serta meningkatkan beban kerja aktuator kemudi. Penelitian ini bertujuan merancang sistem kendali heading kapal kontainer menggunakan metode Linear Model Predictive Control (MPC). Model kapal dibangun berdasarkan model manuver 3-DOF dengan variabel keadaan berupa sway velocity, yaw rate, dan heading angle, sedangkan gangguan gelombang dimodelkan menggunakan second-order shaping filter yang merepresentasikan kondisi Sea State 4 (Hs = 2,5 m; Tp = 8 s). Model prediksi MPC diperluas dengan dinamika servo rudder (4-state) serta model gelombang pada estimator (wave filtering), dengan mempertimbangkan prediction horizon, control horizon, fungsi biaya, serta batasan fisik aktuator berupa batas sudut rudder ±30° dan laju perubahan sudut rudder ±3°/s. Heading referensi dibangkitkan dari rute pelayaran nyata Surabaya–Jakarta yang terdiri atas 16 waypoint menggunakan panduan Line of Sight (LOS). Simulasi dilakukan menggunakan MATLAB/Simulink dan dievaluasi berdasarkan kemampuan heading tracking, pemenuhan batasan aktuator, uji manuver zig-zag sesuai standar IMO MSC.137(76), serta penjejakan rute pelayaran. Hasil validasi menunjukkan model sistem memenuhi sifat controllable dan observable. Hasil simulasi menunjukkan bahwa Linear MPC mampu mempertahankan heading kapal lebih baik dibandingkan kendali PID dengan menghasilkan RMSE sebesar 1,83°, lebih rendah dibandingkan PID sebesar 2,03° atau sekitar 10% lebih baik, dengan seluruh gerakan rudder tetap memenuhi batas sudut dan laju yang ditetapkan. Seluruh kriteria uji zig-zag IMO terpenuhi, yaitu overshoot pertama dan kedua uji 10°/10° sebesar 7,00° dan 12,65° (batas 17,55° dan 36,32°), overshoot pertama uji 20°/20° sebesar 12,04° (batas 25°), serta initial turning ability 1,36L (batas 2,5L). Pada penjejakan rute Surabaya–Jakarta sepanjang 394,6 mil laut, seluruh 16 waypoint dicapai dengan RMSE heading terhadap referensi LOS sebesar 2,17° dan cross track error rata-rata 6,0 m. Berdasarkan hasil tersebut, Linear MPC terbukti mampu meningkatkan akurasi heading tracking, menjaga penggunaan aktuator tetap aman, serta memenuhi standar manuverabilitas kapal sehingga berpotensi diterapkan pada sistem kendali heading kapal kontainer. Penelitian ini juga mendukung pengembangan teknologi transportasi maritim yang lebih inovatif dan berkelanjutan sejalan dengan SDG 9 (Industry, Innovation and Infrastructure).
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Maritime transportation plays an essential role in supporting logistics distribution in Indonesia as an archipelagic country. However, ocean wave disturbances may cause heading deviations, reduce navigation quality and increase rudder actuator workload. This study proposes a Linear Model Predictive Control (MPC) strategy for the heading control system of a container ship. The ship dynamics are represented using a 3-DOF maneuvering model consisting of sway velocity, yaw rate, and heading angle, while wave disturbances are modeled using a second-order shaping filter representing Sea State 4 conditions (Hs = 2.5 m; Tp = 8 s). The MPC prediction model is augmented with the rudder servo dynamics (4-state model) and a wave model in the estimator (wave filtering), and the controller is designed by considering the prediction horizon, control horizon, cost function, and rudder actuator constraints of ±30° rudder angle and ±3°/s rudder rate. The heading reference is generated from the actual Surabaya–Jakarta shipping route consisting of 16 waypoints using Line of Sight (LOS) guidance. Simulations are conducted in MATLAB/Simulink and evaluated based on heading-tracking performance, actuator constraint compliance, zig-zag maneuver tests according to IMO MSC.137(76), and route-tracking performance. The validation results confirm that the state space model is both controllable and observable. Simulation results demonstrate that the proposed Linear MPC outperforms the conventional PID controller, achieving a heading RMSE of 1.83° compared with 2.03° for PID, an improvement of approximately 10%, while all rudder motions satisfy the imposed angle and rate constraints. All IMO zig-zag criteria are fulfilled: the first and second overshoots of the 10°/10° test are 7.00° and 12.65° (limits 17.55° and 36.32°), the first overshoot of the 20°/20° test is 12.04° (limit 25°), and the initial turning ability is 1.36L (limit 2.5L). In the 394.6-nautical-mile Surabaya–Jakarta route-tracking scenario, all 16 waypoints are reached with a heading RMSE of 2.17° with respect to the LOS reference and an average cross track error of 6.0 m. These results indicate that the proposed Linear MPC effectively improves heading-tracking accuracy while maintaining safe actuator operation and complying with international maneuverability standards, making it a promising approach for container ship heading control. Furthermore, this study supports the development of more innovative and sustainable maritime transportation technologies in line with SDG 9 (Industry, Innovation and Infrastructure).

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Kata kunci: kontrol heading, Model Predictive Control, kapal kontainer, transportasi maritim berkelanjutan. ======================================================================================================================== Keywords: heading control, Model Predictive Control, container ship, sustainable maritime transportation.
Subjects:	T Technology > TA Engineering (General). Civil engineering (General)
Divisions:	Faculty of Industrial Technology > Physics Engineering > 30201-(S1) Undergraduate Thesis
Depositing User:	Dita Azzahra
Date Deposited:	29 Jul 2026 06:58
Last Modified:	29 Jul 2026 06:58
URI:	http://repository.its.ac.id/id/eprint/139086

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