Desain Sistem Kendali Gerak Surge, Sway dan Yaw pada Autonomous Underwater Vehicle dengan Metode Sliding Mode Control (SMC)

Teguh Herlambang

Abstract


Kapal selam tanpa awak aatau yang biasa disebut Autonomous Underwater Vehicle (AUV)  merupakan salah satu jenis robot bawah air yang relatif flexibel untuk eksplorasi bawah laut dan peralatan sistem pertahanan bawah laut. AUV dikendalikan oleh komputer di atas kapal permukaan untuk melaju dan bergerak dengan enam derajat kebebasan (6-DOF). Untuk mengendalikan AUV dibutuhkan sistem kendali gerak. Pada penelitian ini dikembangkan sistem kendali gerak menggunakan model nonlinier 3-DOF AUV yaitu gerak surge, sway dan yaw dengan metode Sliding Mode Control (SMC). Hasil simulasi menunjukkan bahwa metode SMC dapat digunakan sebagai sistem kendali gerak 3-DOF dengan menghasilkan error 0.03% untuk gerak surge dan 0.04% untuk gerak sway serta 0.5% untuk gerak yaw.


Keywords


AUV, Sistem Kendali, SMC, 3-DOF, Model Nonlinear

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References


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DOI: http://dx.doi.org/10.12962/limits.v14i1.2210

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