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All Journal Jurnal Elektronika dan Telekomunikasi International Journal of Electrical, Computer, and Biomedical Engineering (IJECBE)
Pramudya, Tinova
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Computer Science & IT Electrical & Electronics Engineering Engineering Materials Science & Nanotechnology Medicine & Pharmacology

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Performance Comparison of PID, FOPID, and NN-PID Controller for AUV Steering Problem Nami, Osen Fili; Widaryanto, Afif; Rasuanta, Muhammad Putra; Pramudya, Tinova; Firdaus, Muhammad Yusha; Widati, Peni Laksmita; Anggraeni, Sakinah Puspa; Dwiyanti, Hanifah; Rahmadiansyah, Maristya; Purwoadi, Michael Andreas; Rahardjo, Sasono; Lubis, Teddy Alhady
Jurnal Elektronika dan Telekomunikasi Vol 24, No 1 (2024)
Publisher : National Research and Innovation Agency

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.55981/jet.596

Abstract

This study examines and compares three Autonomous Underwater Vehicles (AUV) steering control techniques utilizing the following three control algorithms: Proportional-Integral-Derivative (PID), Fractional Order PID (FOIPD), and Neural Network-PID (NN-PID). The objective of this investigation is to gain a comprehensive understanding of each controller's response in terms of step input scenarios, trajectory changes, and when encountering disturbances. The response analysis will evaluate the strengths and weaknesses of the controller by examining parameters such as Rise Time, Settling Time, Settling Min, Settling Max, Overshoot, Peak, and Peak Time for each controller response. To determine the accuracy performance of each controller strategy, the root mean square error (RMSE) technique will be applied, allowing users to confidently select the most suitable controller option. FOPID displays the best settling time of 3.2218 seconds, and PID stands out in rise time, achieving 0.4725 seconds. The results indicate that NN-PID is the top performer as it reduces overshoot to 0.3022%. Among the three controllers that were tested, FOPID had the smallest RMSE value, while the NN-PID control's slower response and larger error resulted in a smaller overshoot than PID and FOPID. This factor is due to the online learning process on NN-PID, which requires time. Based on the simulation results, FOPID outperforms PID in settling time and produces the smallest error due to the inclusion of parameters λ and μ, leading to improved control performance.
Analysis of Bare Uniform Fiber Bragg Grating Sensor for Measuring Strain on the Landing Gear of the LSU-02 Unmanned Aircraft Anwar, Rudi Choirul; Purnamaningsih, Retno Wigajatri; Rahardjo, Sasono; Hamidah, Maratul; Martha, Aryandi; Firdaus, Muhammad Yusha; Pramudya, Tinova
International Journal of Electrical, Computer, and Biomedical Engineering Vol. 2 No. 3 (2024)
Publisher : Universitas Indonesia

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.62146/ijecbe.v2i3.70

Abstract

This paper reports the results of testing a bare uniform FBG sensor for measuring strain occurring on the landing gear of an unmanned aircraft. The landing gear used in this research is made from carbon fiber, known for its high strength and stiffness. The FBG sensor is positioned 20 cm from the center point of the landing gear, specifically at the curved section, to optimize strain detection. Static testing to measure strain was conducted by applying varying mass loads from 0 to 9 kilograms to test the sensor's response to load changes. Measurement results show a constant measurement threshold at a load of 50 grams, indicating sensor stability within that load range, with a measurement resolution of 0.1654 microstrain. Comparison of FBG measurement results with the BLFAB-55 strain gauge sensor revealed a measurement difference of 5.9%. Further research was conducted by introducing disturbances in the form of wind at speeds of 5 m/s and 10 m/s, and temperature disturbances of 30°C and 45°C. The results showed that the 45°C temperature disturbance had the most significant impact on the strain changes measured by the FBG, with an increase in strain value of 265% compared to when there was no disturbance.
Co-Authors Anggraeni, Sakinah Puspa Anwar, Rudi Choirul Dwiyanti, Hanifah Firdaus, Muhammad Yusha Hamidah, Maratul Lubis, Teddy Alhady Martha, Aryandi Nami, Osen Fili Purwoadi, Michael Andreas Rahmadiansyah, Maristya Rasuanta, Muhammad Putra Retno Wigajatri Purnamaningsih Sasono Rahardjo, Sasono Widaryanto, Afif Widati, Peni Laksmita