Perancangan Sistem Autopilot dan Guidance Berbasis Model Predictive Control Sliding Curve dengan Gangguan

Halim, Billy Jonathan (2021) Perancangan Sistem Autopilot dan Guidance Berbasis Model Predictive Control Sliding Curve dengan Gangguan. Undergraduate thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Unmanned Surface Vehicle (USV) merupakan kapal tanpa awak yang perlu memiliki kemampuan dalam mengikuti jalur trayektori dan menyelesaikan misi perjalanan dengan aman meskipun menghadapi gangguan eksternal yang tidak dapat diprediksi seperti induksi angin, ombak, dan arus. Untuk mencapai keperluan tersebut, USV juga perlu memiliki algoritma kontrol kecepatan dan kecepatan sudut agar kapal dapat menentukan gaya pada sumbu-x dan moment pada sumbu yaw yang lalu dikonversikan menjadi kecepatan dan sudut kemudi kapal di masa depan. Untuk mengatasi permasalahan tersebut, maka penelitian ini dirancang kontroler dan pemanduan cerdas. Pada penelitian ini dirancang USV dengan 6 derajat kebebasan (6-DOF) dengan gangguan eksternal berupa angin, arus dan ombak. Sistem autopilot dan guidance yang dirancang menggunakan algoritma model predictive control (MPC) dan sliding curve. Pengujian hasil perancangan sistem dilakukan simulasi menggunakan software MATLAB. Dari hasil pengujian dari beberapa variasi diperoleh bahwa kontrol kecepatan surge dan kontrol kecepatan sudut yaw dengan nilai parameter Np=25, Nc=24, Q=0,00909, R=11 memiliki nilai RMSE sumbu-x sebesar 2,7317, MAE sumbu-x sebesar 1,7793, RMSE sumbu-y sebesar 2,6039, MAE sumbu-y sebesar 1,4073, RMSE posisi sebesar 3,8249, RMSE sliding curve sebesar 3,6718, waktu tempuh sebesar 337,05 detik dan jarak tempuh sebesar 1634,061 m.
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An Unmanned Surface Vehicle (USV) is a crewless vessel that needs to have the ability to follow the trajectory path and complete the voyage safely despite facing unpredictable external disturbances such as wind induction, waves, and currents. To achieve this purpose, USV also needs to have a speed and angular velocity control algorithm so that the ship can determine the force on the x-axis and the moment on the yaw axis, which converted into the speed and angle of the ship's rudder in the future. This thesis designed a controller and intelligent guidance. In this thesis, the USV was designed with 6 degrees of freedom (6-DOF) with external disturbances in the form of wind, current, and waves. Autopilot and guidance system designed using predictive control (MPC) model algorithm and sliding curve. It was testing the results of the system design simulation using MATLAB software. From the test results from several variations, it was found that the surge speed control and yaw angular velocity control with parameter values Np=25, Nc=24, Q=0.00909, R=11 have an x-axis RMSE value of 2.7317, MAE-axis x 1.7793, y-axis RMSE 2.6039, y-axis MAE 1.4073, position RMSE 3.8249, sliding curve RMSE 3.6718, travel time of 337.05 second and mileage of 1634,061 m.

Item Type:	Thesis (Undergraduate)
Uncontrolled Keywords:	Unmanned Surface Vehicle (USV), Gangguan, Model Predictive Control, Sliding Curve, Unmanned Surface Vehicle (USV), Disturbance, Model Predictive Control, Sliding Curve.
Subjects:	T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK3070 Automatic control
Divisions:	Faculty of Intelligent Electrical and Informatics Technology (ELECTICS) > Electrical Engineering > 20201-(S1) Undergraduate Thesis
Depositing User:	Billy Jonathan Halim
Date Deposited:	19 Aug 2021 05:39
Last Modified:	19 Aug 2021 05:39
URI:	http://repository.its.ac.id/id/eprint/87605

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