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All Journal International Journal of Electrical and Computer Engineering IAES International Journal of Artificial Intelligence (IJ-AI) Jurnal Ilmiah Teknik Elektro Komputer dan Informatika (JITEKI) JMM17: Jurnal Ilmu Ekonomi dan Manajemen Journal of Information Systems Engineering and Business Intelligence R.E.M (Rekyasa Energi Manufaktur) Jurnal 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 International Journal of Computing Science and Applied Mathematics 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 Specta Journal of Technology REMIK : Riset dan E-Jurnal Manajemen Informatika Komputer Community Development Journal: Jurnal Pengabdian Masyarakat Indonesian Journal of Cultural and Community Development Indonesia Berdaya Walisongo Journal of Information Technology Jurnal Kedaymas Indexia : Informatics and Computational Intelligent Journal 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
Teguh Herlambang
Universitas Nahdlatul Ulama Surabaya
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Journal : Limits: Journal of Mathematics and Its Applications

 1 
Desain Sistem Kendali Gerak Surge, Sway dan Yaw pada Autonomous Underwater Vehicle dengan Metode Sliding Mode Control (SMC) Herlambang, Teguh
Limits: Journal of Mathematics and Its Applications Vol 14, No 1 (2017)
Publisher : Institut Teknologi Sepuluh Nopember

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (645.958 KB) | DOI: 10.12962/limits.v14i1.2210

Abstract

Kapal selam tanpa awak aatau yang biasa disebut Autonomous Underwater Vehicle (AUV)  merupakan salah satu jenis robot bawah air yang relatif flexibel untuk eksplorasi bawah laut dan peralatan sistem pertahanan bawah laut. AUV dikendalikan oleh komputer di atas kapal permukaan untuk melaju dan bergerak dengan enam derajat kebebasan (6-DOF). Untuk mengendalikan AUV dibutuhkan sistem kendali gerak. Pada penelitian ini dikembangkan sistem kendali gerak menggunakan model nonlinier 3-DOF AUV yaitu gerak surge, sway dan yaw dengan metode Sliding Mode Control (SMC). Hasil simulasi menunjukkan bahwa metode SMC dapat digunakan sebagai sistem kendali gerak 3-DOF dengan menghasilkan error 0.03% untuk gerak surge dan 0.04% untuk gerak sway serta 0.5% untuk gerak yaw.
Co-Authors Abdul Muhith Abdul Muhith, Abdul Afiananda Rizky Afib Rulyansah Ahmad Syafiq Kamil Andy Suryowinoto Andy Suryowinoto Andy Suryowinoto Atika Fatmawati Azmi Khulama Devi Azmi Khulmala Devi Berny Pebo Tomasouw Candra Ningrat Denis Fidita Dennis V. Madrigal Dian Adrianto Dian Adrianto Diecky Adzkiya Dieky Adzkiya Dike Bayu Magfira Dike Bayu Magfira Dinita Rahmalia Dinita Rahmalia Dinita Rahmalia, Dinita Dyah Siwi Hety Elisa Qotrunnada Erna Apriliani Fajar Annas Susanto Fajar Annas Susanto Fajar Annas Susanto Fajar Annas Susanto Fajar Annas Susanto Fajar Annas Susanto Fajar Annas Susanto Hendro Nurhadi Hendro Nurhadi Hendro Nurhadi I Wayan Surya Merta Ima Kurniastuti Ismanto Hadi Santoso Ismanto Hadi Susanto Jauharotur Rihlah Karya, Denis Fidita Khozin Mu'tamar Kresna Oktafianto Kresna Oktafianto Leni Yuliana Leni Yuliana M. Yushak Anshori Maulana Bayu Mayga Kiki Moch Zakaria Moh. Saiful Hakiki Moh. Saiful Hakiki Mohamad Rijal Iskandar Zhulqurnain Mohamad Yusak Anshori Mohammad Syaiful Pradana, Mohammad Syaiful Mokhamad Ramadani Ilham Akbar Muhammad Nur Candra Muhammad Sawal Baital Mukhtar Adinugroho Mukhtar Adinugroho Mutia Annisaa’ Firdaus Puspandam Katias Puspandam Katias Rachma Rizqina Reizano Amri Rasyid Rita Sari Riyan Sisiawan Putra S. Subchan Septiyan Dias Anggoro Sigit Pancahayani Sri Hartatik Subchan Subchan Subchan Subchan Subchan Subchan Subchan Subchan Supriyanto Supriyanto Teay Shawyun Thomy Eko Saputro Tomasouw, Berny Pebo Tri Deviasari Wulan Tri Deviasari Wulan Wulan Yudianto, Firman