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All Journal International Journal of Electrical and Computer Engineering Jurnal Teknik ITS Jurnal Sains dan Seni ITS IPTEK Journal of Proceedings Series IPTEK The Journal for Technology and Science Gamatika Jurnal Matematika & Sains Prosiding Seminar Matematika dan Pendidikan Matematik Jurnal Teknik Industri: Jurnal Keilmuan dan Aplikasi Teknik Industri Limits: Journal of Mathematics and Its Applications Jurnal Purifikasi InPrime: Indonesian Journal Of Pure And Applied Mathematics Science Nature Jurnal Nasional Aplikasi Mekatronika, Otomasi dan Robot Industri (AMORI) CGANT JOURNAL OF MATHEMATICS AND APPLICATIONS Indonesian Journal of Applied Mathematics Limits: Journal of Mathematics and Its Applications International Journal of Computing Science and Applied Mathematics-IJCSAM
Erna Apriliani
Departemen Matematika Institut Teknologi Sepuluh Nopember
Arts Humanities Chemical Engineering, Chemistry & Bioengineering Computer Science & IT Control & Systems Engineering Decision Sciences, Operations Research & Management Economics, Econometrics & Finance Education Electrical & Electronics Engineering Engineering Environmental Science Industrial & Manufacturing Engineering Mathematics Mechanical Engineering Physics Other

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Journal : International Journal of Electrical and Computer Engineering

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Sliding mode control design for autonomous surface vehicle motion under the influence of environmental factor Hendro Nurhadi; Erna Apriliani; Teguh Herlambang; Dieky Adzkiya
International Journal of Electrical and Computer Engineering (IJECE) Vol 10, No 5: October 2020
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (341.862 KB) | DOI: 10.11591/ijece.v10i5.pp4789-4797

Abstract

Autonomous Surface Vehicle (ASV) is a vehicle that is operated in the water surface without any person in the vehicle. Since there is no person in the ASV, a motion controller is essentially needed. The control system is used to make sure that the water vehicle is moving at the desired speed. In this paper, we use a Touristant ASV with the following specifications: the length is 4 meters, the diameter is 1.625 meters, and the height is 1.027 meters. The main contribution of this paper is applying the Sliding Mode Control system to the Touristant ASV model under the influence of environmental factors. The environmental factors considered in this work are wind speed and wave height. The Touristant ASV model is nonlinear and uses three degree of freedom (DOF), namely surge, sway and yaw. The simulation results show that the performance of the closed-loop system by using the SMC method depends on the environmental factors. If environmental factors are higher, then the resulting error is also higher. The average error difference between those resulted from the simulation without environmental factors and those with the influence of environmental factors is 0.05% for surge, sway and yaw motions.
Co-Authors Abduh Riski, Abduh Adam Adam Adam Adam Agus N. A. Syarifudin Agus N.A. Syarifuddin Ali Masduqi Amelia Margaretha Santoso Annisa Rahmita Soemarsono Arief Baihaqi Arief Baihaqi Aulia Siti Aisjah Bambang Sugandi bandung Arry Sanjaya Bandung Arry Sanjoyo Chairul Imron Chairul Imron, Chairul Devi Yolanda Diah Agustin Dian A Merdekawati Dian A. Merdekawati Didik Khusnul Arif Didik Khusnul Arif Dieky Adzkiya Dieky Adzkiya Endah R.M. Putri Endah Rokhmati Merdika Putri Evita Purnaningrum Evita Purnaningrum Faridatul Masruroh Guisheng Zhai Hartatiati, Sri Suprapti Helisyah Nur Fadhilah Helisyah Nur Fadhilah Hendro Nurhadi Hendro Nurhadi I Gst Ngr Rai Usadha Latifatul Mamnunah Lukman Hanafi Mahmud Yunus Mahmud Yunus Mardlijah - Miftakhul Janah Seftia Agustina Moh. Fahmi Muzaki Mohamad Ilham Dwi F Mohamad Ilham Dwi Firmansyah Mohammad Isa Irawan Muhammad Fahmi Muzaki Nathanael Leon Gozali Ngatini Ngatini Ngatini, Ngatini Nuri Wahyuningsih Nuri Wahyuningsih Radisha Fanni Sianti Reni Sundari Resi Arumin Sani Rifki Ilham Baihaki Riska Aprilia Ronando, Elsen Sadjidon Sadjidon Sanjaya, Bandung Arry Sentot Didik Surjanto Shaffiani Nurul Fajar Soetrisno Soleha Soleha Sri Suprapti H Teguh Herlambang Tomy Kurniawan Tri Juliana Permatasari Vivien Maulidya Wiwit Ratnasari Wiwit Sofiyanti Budiono Yatini Yoga Faisal Aminnudin Yunus, Mahmud