ASRO JOURNAL - STTAL
Vol 9 No 1 (2018): International Journal of ASRO

DESIGN OF SURGE AND ROLL MOTION CONTROL SYSTEM OF ITSUNUSA AUV USING PID CONTROLLER

Teguh Herlambang (STTAL)
Subchan Subchan (STTAL)

Article Info

Publish Date
25 Jun 2018

Abstract

ABSTRACT This paper is about designing motion control system with 2-DOF motion equation to be applied to an Autonomous Underwater Vehicle (AUV) system. The 2-DOF motion equation which consists of surge and roll motion in the form of equations of nonlinear motion. The control system design applied to the ITSUNUSA AUV system uses the Proportional Integral Derivative (PID) method. The simulation results of the PID control system with the motion equation with 2-DOF on the ITSUNUSA AUV system show that the system proves to be stable at a predetermined set-point with an error of 0.01% for surge motion and that with an error of 4.2% for roll motion. Keywords: AUV, motion control, PID

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Journal Info
ASRO JOURNAL - STTAL
Website

Abbrev

ASRO

Publisher

Sekolah Tinggi Teknologi Angkatan Laut

Subject

Decision Sciences, Operations Research & Management Engineering Industrial & Manufacturing Engineering

Description

ASRO JOURNAL is bi-annual international referred journal with the objectives to explore, develop, and elucidate the knowledge of operation research, system analysis, logistic management, and policy & strategy to keep practitioners and researchers informed on current issues and best practices, as ...