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All Journal Jurnal Teknik ITS Jurnal Penelitian Fisika dan Aplikasinya (JPFA) IPTEK Journal of Proceedings Series Elsains : Jurnal Elektro JAVA Journal of Electrical and Electronics Engineering Jurnal Nasional Aplikasi Mekatronika, Otomasi dan Robot Industri (AMORI) Sewagati
Joko susila
Departemen Teknik Elektro Otomasi Institut Teknologi Sepuluh Nopember Surabaya
Arts Humanities Astronomy Computer Science & IT Control & Systems Engineering Earth & Planetary Sciences Education Electrical & Electronics Engineering Energy Engineering Languange, Linguistic, Communication & Media Materials Science & Nanotechnology Mechanical Engineering Physics Public Health Social Sciences Other

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Journal : IPTEK Journal of Proceedings Series

 1 
Design of Tracking System and Disturbance Rejection using Neural Networks for Autonomous Underwater Vehicle (AUV) Abdul Muis Prasetia; Trihastuti Agustinah; Joko Susila
IPTEK Journal of Proceedings Series No 1 (2015): 1st International Seminar on Science and Technology (ISST) 2015
Publisher : Institut Teknologi Sepuluh Nopember

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12962/j23546026.y2015i1.1141

Abstract

Autonomous Underwater Vehicle (AUV) is under-actuated system with highly nonlinear dynamic and Multi Input Multi Output (MIMO). AUV has stability problem due to external disturbance. These characteristics cause the AUV is difficult to be controlled and to track the reference signal automatically. Based on these problems, this paper present tracking control design and disturbance rejection using Neural Networks for AUV with 6 Degree of Freedom (DOF). The proposed control system is used to generate control signals to overcome the nonlinear dynamics of AUV. The reference signal is processed using Line of Sight (LOS) method to obtain the desired yaw of AUV. Simulation results show that the AUV is able to track the reference signal even in the presence of ocean current disturbance.
Co-Authors Abdul Muis Prasetia, Abdul Muis Adhim, Fauzi Imaduddin Ahmad Bayhaqi Aldan Prayogi Argawa Aditya Kusumah Arif Musthofa Asep Suryana Berlian Al Kindhi Berlian Al Kindhi Ciptian Weried Priananda Dzikry Ihsanuddin Sabilulhaq Faiza Alif Fakhrina Fauzi Imaduddin Adhim Haidar, Abdu Aswar Herrista Ovilia Wijono Putri Hery setyo widodo Ilham Agung Wicaksono Imam Wahyudi Farid Istiqomah, Fivitria Joko Priambodo Josaphat Pramudijanto Jumiyatun, Jumiyatun Latif, Muhammad Nasrudin Lucky Putri Rahayu Muhammad Arkan Muhammad Dani Muhammad Dani Muhammad Hisyam Herbiyan Musthofa, Arif Nugraha, Fauzi Patrialova, Sefi Novendra Pauzi Saputra Priambodo, Joko Rahadian Dwi Martina Putra Rakha Hanif Dzakwan Regitasari, Yhola Yosevin Reyhana Naufal El-Bahreisyi Ricko Mahendra Putra Riski Bimo Alvrido Naranakubar Roshita, Aliffatul Nur Rusdhianto Effendi Rusdhianto Effendi Rusdhianto Effendie A.K. Rusdhianto Effendie Abdul Kadier Taufik Arrahman Teddy Firman Saputra Supriyanto Trihastuti Agustinah Tyas Eka Prasasti Waskito, Lugas Jabar Wening Kharisma Mawardani