Desain Kontrol Tracking Underactuated Auv Pada Bidang Horizontal Menggunakan State Dependent Riccati Equations (Sdre) –Lqt

Imaduddin, Ilmi Rizki (2016) Desain Kontrol Tracking Underactuated Auv Pada Bidang Horizontal Menggunakan State Dependent Riccati Equations (Sdre) –Lqt. Masters thesis, Institut Teknologi Sepuluh Nopember Surabaya.

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Abstract

Perkembangan Autonomous Underwater Vehicle (AUV) sudah semakin luas fungsinya, bahkan untuk tugas-tugas militer dibawah air yang berbahaya, misalnya operasi pencarian, pengintaian, penyelamatan dan juga bisa diaplikasikan untuk tugas ilmiah seperti pemetaan kondisi bawah laut, mendeteksi sumber minyak, pengawasan, pemeliharaan dan survei bawah air. AUV merupakan sistem nonlinear dengan multiple input multiple output dan sistem dengan persoalan kestabilan, sehingga rentan terhadap gangguan eksternal. Karakteristik ini menyebabkan adanya kesulitan dalam pengendalian gerak tracking secara otomatis saat terdapat gangguan arus air. Berdasarkan permasalahan tersebut, pada penelitian ini disajikan desain kontrol tracking pada bidang horizontal berbasis SDRE-LQT, agar dalam melakukan path following konvergen menuju nol dan dapat mengatasi gangguan arus laut yang merubah parameter dari AUV dalam melakukan gerak pada bidang horizontal. Hasil simulasi menunjukkan bahwa metode kontrol yang digunakan mampu membawa sudut yaw, pitch dan roll pada nilai yang diharapkan dan gangguan arus dapat diatasi dengan memberikan nilai sinyal kontrol yang baru secara online, sehingga AUV dapat melakukan tracking secara otomatis pada kondisi ada atau tanpa gangguan arus laut dengan rata-rata cross track error sebesar 0.59 meter ============================================================================================= The development of AUV is increasingly widespread functions, even for dangerously military underwater tasks, for example surveillance, search and rescue, can also be applied to scientific tasks such as mapping the underwater conditions detect oil resources, monitoring, maintenance and underwater survey. AUV is a nonlinear system with multiple input multiple output and system, and has stability issues that are vulnerable to external disturbance. These characteristics causes the controlling of AUV is difficult due to the ocean current disturbance. Based on this problems, this study presents tracking control design in the horizontal plane based on SDRE-LQT, that in doing the following path converges towards zero and be able to overcome the interference of ocean currents that change the parameters of AUV in doing motion in the horizontal plane. The simulation results show that the method is able to bring the yaw, pitch and roll on the expected value and current noise can be solved by providing by online a new control signal value, so that the AUVcan perform automatic tracking due to presence or absence ocean currents with an average cross track error of 0.59 meters

Item Type: Thesis (Masters)
Additional Information: RTE 629.836 Ima d
Uncontrolled Keywords: AUV, Tracking Control, SDRE-LQT, Path Following, Ocean Currents
Subjects: T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL521.3 Automatic Control
Divisions: Faculty of Industrial Technology > Electrical Engineering > 20101-(S2) Master Thesis
Depositing User: EKO BUDI RAHARJO
Date Deposited: 28 Jul 2020 00:56
Last Modified: 28 Jul 2020 00:56
URI: https://repository.its.ac.id/id/eprint/76575

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