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All Journal International Journal of Electrical and Computer Engineering Jurnal Teknik ITS Teknika: Engineering and Sains Journal Jurnal Ilmiah Universitas Batanghari Jambi INOVTEK Polbeng - Seri Informatika BAREKENG: Jurnal Ilmu Matematika dan Terapan ASRO JOURNAL - STTAL International Journal of Computing Science and Applied Mathematics Zeta - Math Journal Prosiding Seminar Nasional Sains dan Teknologi Terapan InPrime: Indonesian Journal Of Pure And Applied Mathematics Jurnal Nasional Aplikasi Mekatronika, Otomasi dan Robot Industri (AMORI) Sewagati
Hendro Nurhadi
Institut Teknologi Sepuluh Nopember Surabaya
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Journal : International Journal of Electrical and Computer Engineering

 1 
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.
Estimation of water momentum and propeller velocity in bow thruster model of autonomous surface vehicle using modified Kalman filter Hendro Nurhadi; Mayga Kiki; Dieky Adzkiya; Teguh Herlambang
International Journal of Electrical and Computer Engineering (IJECE) Vol 12, No 6: December 2022
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijece.v12i6.pp5988-5997

Abstract

Autonomous surface vehicle (ASV) is a vehicle in the form of an unmanned on-water surface vessel that can move automatically. As such, an automatic control system is essentially required. The bow thruster system functions as a propulsion control device in its operations. In this research, the water momentum and propeller velocity were estimated based on the dynamic bow thruster model. The estimation methods used is the Kalman filter (KF) and ensemble Kalman filter (EnKF). There are two scenarios: tunnel thruster condition and open-bladed thruster condition. The estimation results in the tunnel thruster condition showed that the root mean square error (RMSE) by the EnKF method was relatively smaller, that is, 0.7920 and 0.1352, while the estimation results in the open-bladed thruster condition showed that the RMSE by the KF method was relatively smaller, that is, 1.9957 and 2.0609.
Co-Authors A.A. Ketut Agung Cahyawan W Abdul Muhith Adi Setyo Purnomo Adrianto, Dian Ahadiyat Luhung Jati Akbar, Reza Maliki Alvin Oktaviantara Dwi Putra Alya Awinatul Rohmah Andy Suryowinoto Ardi Dara Yuda Arief, M. Romli Arif Wahjudi Arif Wahyudi Aristo Ramadhani Asranudin Asranudin Asranudin Badzlin Nabila Badzlin Nabilah Billy Ekaputra Citra ‘Aaqilatul Fa’aidah Dedy Zulhidayat Noor Diah Trisna Rahayu Lestari Didik Prasetyoko Diecky Adzkiya Dieky Adzkiya Dimas Kunto Ariwibowo Dini Ermavitalini Dinita Rahmalia, Dinita Djohana Tri Lois Moyo Djoko Kuswanto Eka Pratiwi Yuniarti Erna Apriliani Erwin Widodo Fazad, M. Haikhal Halimah, Adedila Hamdan Dwi Rizqi Hanifah Zaizafun Losu Herdayanto Sulistyo Putro Heru Mirmanto Imam Wahyudi Iman, Muhammad Ilham Nur Indrapaksi, Tengku Ikhwan Alfajri Irhamah Jati, Ahadiyat Luhung Karina Harley Aulia Rizky Katherin Indriawati Laudy Nasya Yanuar Lavida Aisya Salvanora Lea Kristina Anggraeni Mashuri Mashuri Mayga Kiki Miftahul Huda Mochammad Iqbal Asskhaaf Mufidah, Iftin Farekana Muhammad Lukman Hakim Muhammad Lukman Hakim, Muhammad Lukman Muntari Muntari Ngatini Ngatini Ngatini, Ngatini Noor, Dedy Zulhidayat Nourma Sulistyowati Novia Nurul Hidayah Nur Aini Rakhmawati Nur Khoiriyah Nur Muhammad Adi Yahya Octaviani, Wulan Nur Oktavianto, Lucky Prasetiyo, Sandro Pratama, Silvia Abdi Pratiwi, Tasya Resa Putro, Herdayanto Sulistyo Refdinal Nawfa Riska Aprilia Rohmah, Alya Awinatul Sandro Prasetiyo Setiawan, Gede Wisnu SRI FATMAWATI Sri Fatmawati Subchan Subchan Subchan Subchan Subchan, Subchan Surya Rosa Putra Surya Rosa Putra, Surya Rosa Suryo Wiyono Susanto, Fajar Annas Taufiq Rinda Alkas Teguh Herlambang Tomasouw, Berny Pebo Triono Bagus Saputro, Triono Bagus Widhayanti, Nur Ari Widi Muranata Wisnu Wardhana Yuda, Ardi Dara Yunita Alfiyati Firdausa Zahra Salsabila