Desain Kontrol Tracking Sudut Yaw Pada AUV Menggunakan State Dependent Riccati Equations (SDRE)-LQT

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Published: Dec 11, 2019
DOI: https://doi.org/10.34128/jsi.v5i2.179
Keywords:
AUV, Tracking Control, SDRE-LQT

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Muhammad Hasan Basri
Universitas Nurul jadid

Abstract

Dalam merealisasikan permasalahan control tracking sudut yaw pada AUV, penggunaan metode State Dependent Riccati Equations berdasarkan Linear Quadratic Tracking (SDRE-LQT) direalisasikan. Algoritma ini menghitung perubahan permasalahan tracking sudut yaw melalui perhitungan perubahan parameter dari Autonomous Underwater Vehicle (AUV) secara online dengan Algebraic Riccati Equations. Sehingga sinyal kontrol yang diberikan ke plant dapat mengikuti perubahan kondisi dari plant itu sendiri. Metode control SDRE-LQT bekerja dengan cukup baik ketika ada  faktor non linearitas dari sistem, yaitu pengaruh  dari  sudut  roll dan sudut pitch yang mempengaruhi state sudut yaw, yang menyebabkan timbulnya overshoot dan undershoot, dimana kontroler SDRE-LQT mampu mengendalikan sudut yaw AUV sesuai dengan perubahan sinyal referensi yang diberikan dengan error steady state kecil, yaitu e = -0.01282 %.

Article Details

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Vol. 5 No. 2 (2019): Jurnal Sains dan Informatika
Section
Articles

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