DESIGN OF SURGE AND ROLL MOTION CONTROL SYSTEM OF ITSUNUSA AUV USING PID CONTROLLER
DOI:
https://doi.org/10.37875/asro.v9i1.67Keywords:
AUV, motion control, PIDAbstract
ABSTRACT
This paper is about designing motion control system with 2-DOF motion equation to be applied to an Autonomous Underwater Vehicle (AUV) system. The 2-DOF motion equation which consists of surge and roll motion in the form of equations of nonlinear motion. The control system design applied to the ITSUNUSA AUV system uses the Proportional Integral Derivative (PID) method. The simulation results of the PID control system with the motion equation with 2-DOF on the ITSUNUSA AUV system show that the system proves to be stable at a predetermined set-point with an error of 0.01% for surge motion and that with an error of 4.2% for roll motion.
Keywords: AUV, motion control, PID
References
Ansari, U.& Bajodah A.H., 2017.Robust Genaralized Dynamic Inversion Control of Autonomous Underwater Vehicle, IFAC PapersOnline 50-1, 10658-10665.
Ermayanti, E., Aprilini, E., Nurhadi H., & Herlambang T., 2015.Estimate and Control Position Autonomous Underwater Vehicle Based on Determined Trajectory using Fuzzy Kalman Filter Method, International Conference on Advance Mechatronics, Intelligent Manufactre, and Industrial Automation (ICAMIMIA)-IEEE.Surabaya Indonesia, 2015
Herlambang, T., Djatmiko E.B & Nurhadi H., 2015.Ensemble Kalman Filter with a Square Root Scheme (EnKF-SR) for Trajectory Estimation of AUVSEGOROGENI ITS.International Review of Mechanical Engineering IREME Journal, 9(6),pp.553-560, ISSN 1970 –8734. Nov
Herlambang,T., Nurhadi, H., & Subchan, 2014, Preliminary Numerical Study on Designing Navigation and Stability Control Systems for ITS AUV, Applied Mechanics and Materials, vol.493, pp. 420–425
Herlambang, T., 2017.Desain Sistem Kendali Gerak Surge, Sway dan Yaw pada Autonomous Underwater Vehicle dengan Metode Sliding Mode Control (SMC), Journal of Mathematics and ITS Applications (LIMITS), 14(1), pp.53-60
Oktafianto, K., Herlambang T., Mardlijah&Nurhadi H.,2015.Design of Autonomous Underwater Vehcle Motion Control Using Sliding Mode Control Method, International Conference on Advance Mechatronics. Indonesia, 2015.
Ermayanti, E., Aprilini, E., Nurhadi H., & Herlambang T., 2015.Estimate and Control Position Autonomous Underwater Vehicle Based on Determined Trajectory using Fuzzy Kalman Filter Method, International Conference on Advance Mechatronics, Intelligent Manufactre, and Industrial Automation (ICAMIMIA)-IEEE.Surabaya Indonesia, 2015
Herlambang, T., Djatmiko E.B & Nurhadi H., 2015.Ensemble Kalman Filter with a Square Root Scheme (EnKF-SR) for Trajectory Estimation of AUVSEGOROGENI ITS.International Review of Mechanical Engineering IREME Journal, 9(6),pp.553-560, ISSN 1970 –8734. Nov
Herlambang,T., Nurhadi, H., & Subchan, 2014, Preliminary Numerical Study on Designing Navigation and Stability Control Systems for ITS AUV, Applied Mechanics and Materials, vol.493, pp. 420–425
Herlambang, T., 2017.Desain Sistem Kendali Gerak Surge, Sway dan Yaw pada Autonomous Underwater Vehicle dengan Metode Sliding Mode Control (SMC), Journal of Mathematics and ITS Applications (LIMITS), 14(1), pp.53-60
Oktafianto, K., Herlambang T., Mardlijah&Nurhadi H.,2015.Design of Autonomous Underwater Vehcle Motion Control Using Sliding Mode Control Method, International Conference on Advance Mechatronics. Indonesia, 2015.
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Published
2018-06-25
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