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All Journal International Journal of Electrical and Computer Engineering IAES International Journal of Artificial Intelligence (IJ-AI) International Journal of Reconfigurable and Embedded Systems (IJRES) Jurnal Ilmiah Teknik Elektro Komputer dan Informatika (JITEKI) JMM17: Jurnal Ilmu Ekonomi dan Manajemen Jurnal Manajemen Teori dan Terapan Journal of Information Systems Engineering and Business Intelligence Journal of Natural Sciences and Mathematics Research R.E.M (Rekyasa Energi Manufaktur) Jurnal Jurnal Ilmiah Ekonomi Islam Teknika: Engineering and Sains Journal Kinetik: Game Technology, Information System, Computer Network, Computing, Electronics, and Control BAREKENG: Jurnal Ilmu Matematika dan Terapan ASRO JOURNAL - STTAL STTAL POSTGRADUATE - INTERNATIONAL CONFERENCE Limits: Journal of Mathematics and Its Applications Zeta - Math Journal Prosiding Seminar Nasional Sains dan Teknologi Terapan Multitek Indonesia : Jurnal Ilmiah Care : Jurnal Ilmiah Ilmu Kesehatan Mathvision : Jurnal Matematika Systemic: Information System and Informatics Journal Education and Human Development Journal Community Development Journal Journal of Electronics, Electromedical Engineering, and Medical Informatics Specta Journal of Technology Community Service Journal of Indonesia Jurnal Tecnoscienza REMIK : Riset dan E-Jurnal Manajemen Informatika Komputer Community Development Journal: Jurnal Pengabdian Masyarakat Jurnal Layanan Masyarakat (Journal of Public Service) Indonesian Journal of Cultural and Community Development Indonesia Berdaya Walisongo Journal of Information Technology Jurnal Kedaymas Journal of Health Community Service Indexia Islamic Banking : Jurnal Pemikiran dan Pengembangan Perbankan Syariah Pattimura International Journal of Mathematics (PIJMath) Semanggi: Jurnal Pengabdian kepada Masyarakat Prosiding Seminar Nasional Pengabdian Kepada Masyarakat Indonesian Research Journal on Education Jurnal Pengembangan Masyarakat Lokal Parameter: Jurnal Matematika, Statistika dan Terapannya Limits: Journal of Mathematics and Its Applications
Teguh Herlambang
Universitas Nahdlatul Ulama Surabaya
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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.
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 'Arobi, Akhmad 'Izzul Abdul Muhith Adrianto, Dian Afiananda Rizky Afib Rulyansah Ahmad Syafiq Kamil Ajizah, Silvia Akbar, Reza Maliki Amri Rasyid, Reizano Andy Suryowinoto Arasy Alimudin ARDIANSYAH, DAVID Arief, M. Romli Arief, Mochammad Romli Arof, Hamzah Asy'ari, Vaizal Asy’ari, Vaizal Authar, Nailul Azmi Khulama Devi Azmi, Mohd Sanusi Baital, Muhammad Sawal Budiarti, Rizqi Putri Nourma Candra Ningrat Catur Wulandari Dennis V. Madrigal Diah Ayuningtyas Wati Dian Adrianto Diecky Adzkiya Dieky Adzkiya Dike Bayu Magfira, Dike Bayu Dina Novita, Dina Dini Ermavitalini Dinita Rahmalia, Dinita Elisa Qotrunnada Endang Sulistiyani Erna Apriliani Fajar Annas Susanto Fajar Annas Susanto Fajar Annas Susanto Fajar Annas Susanto Fajar Annas Susanto Farisi, Rizaldi Al Fatikhasari, Niken Fatmawati, Atika Fauji, Awwalinnisa Fidita, Denis Firdaus, Aji Akbar Hakiki, Moh Saiful Hamdani, M. Yusuf Hasan, Aldi Age Hasanah, alsabila Maulidah Hasanah, Indah Karimatul Hendro Nurhadi Hety, Dyah Siwi Ima Kurniastuti Isqi, Isye Fadiata Jauharotur Rihlah Karya, Denis Fidita Katherin Indriawati Khozin Mu'tamar Kresna Oktafianto Kresna Oktafianto Leni Yuliana M. Yushak Anshori Macap, Siti Rahayu Maghfira, Dike Bayu Maisyatul Fikriyyah Maulana Bayu Mayga Kiki Merta, I Wayan Surya Miftahul Huda Moch. Sahri Mohamad Rijal Iskandar Zhulqurnain Mohamad Yusak Anshori Mohammad Syaiful Pradana, Mohammad Syaiful Mokhamad Ramadani Ilham Akbar Mughni, Ahmad Syafiq Muhaimin Muhaimin Muhammad Halili Muhammad Nur Candra Mutia Annisaa’ Firdaus Nafa, Mulya Nyoman Juniarta, Nyoman Oktavianto, Lucky Othman, Zuraini Binti Pradana, Favian Aditya Pulih Asih, Akas Yekti Puspandam Katias Putri, Nadita Mutiara Rachma Rizqina Rachman Sinatriya Marjianto Rahayu, Ragil Puji Riansyah, Denny Fitrah Af Rita Sari Riyan Sisiawan Putra Rizky Ramadhan, Rizky Roebbi, aadiyah Rohman, Mochamad Khakim Santoso, Ismanto Hadi Saputro, Hendik Eko Septiyan Dias Anggoro Shiela, Fadia Jasmine Has Sigit Pancahayani Siswanti, Anas Tifa Rahma Sofia, Ainin Soraya, Sabrina Ifahdini Sri Hartatik Subchan Subchan Subchan Subchan Subchan Subchan Subchan, Subchan Sulistiyani, Endang Suprapto, Sena Sukmananda Supriyanto Supriyanto Susanto, Fajar Annas Susanto, Ismanto Hadi Teay Shawyun Thomy Eko Saputro Tomasouw, Berny Pebo Tri Deviasari Wulan Tri Deviasari Wulan Wulan Triono Bagus Saputro, Triono Bagus Triwinanto, Puguh Vicky Andria Kusuma Virniasai, Putri Yuliana Wahyu Wiji Lestari Widjanarko, Angga Adhitya Wulan, Tri Deviasari Wulansari, Tri Yudianto, Firman Yuliana, Leni Yuliyanto Agung Prabowo Zakaria, Moch Zhulqurnain, Mohamad Rijal Iskandar