TY - GEN
T1 - Comparative Analysis of SMC and FSMC on Autonomous Underwater Vehicle (AUV) with Active Ballast
AU - Mardlijah,
AU - Akbar, Yusron Fattahillah
AU - Iza, Belgis Ainatul
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - Geographically Indonesia is the largest marine country in the world which has a sea area of 5.8 million km2. In order to protect assets in the seas of Indonesian, it is needed a tool that can penetrate deep waters. Autonomous Underwater Vehicle (AUV) is an unmanned underwater vehicle capable of helping humans. The AUV has a ballast tank which useful to maintain the balance of the AUV's position. Therefore, a control system is needed on the AUV. In this research, a control design will be carried out to find out the optimal motion system for an Autonomous Underwater Vehicle with active ballast using the Fuzzy Sliding Mode Control (FSMC) and Sliding Mode Control (SMC) method. The motions reviewed in this study are only 3DOF, namely surge, yaw and heave. The simulation results with FSMC have better results than the uncontrolled system. Meanwhile, the SMC used on the Autonomous Underwater Vehicle is better than the output generated by the FSMC.
AB - Geographically Indonesia is the largest marine country in the world which has a sea area of 5.8 million km2. In order to protect assets in the seas of Indonesian, it is needed a tool that can penetrate deep waters. Autonomous Underwater Vehicle (AUV) is an unmanned underwater vehicle capable of helping humans. The AUV has a ballast tank which useful to maintain the balance of the AUV's position. Therefore, a control system is needed on the AUV. In this research, a control design will be carried out to find out the optimal motion system for an Autonomous Underwater Vehicle with active ballast using the Fuzzy Sliding Mode Control (FSMC) and Sliding Mode Control (SMC) method. The motions reviewed in this study are only 3DOF, namely surge, yaw and heave. The simulation results with FSMC have better results than the uncontrolled system. Meanwhile, the SMC used on the Autonomous Underwater Vehicle is better than the output generated by the FSMC.
KW - Active Ballast
KW - Autonomous Underwater Vehicle
KW - Control Design
KW - Fuzzy Sliding Mode Control
KW - Sliding Mode Control
UR - http://www.scopus.com/inward/record.url?scp=85175962224&partnerID=8YFLogxK
U2 - 10.1109/IC3INA60834.2023.10285788
DO - 10.1109/IC3INA60834.2023.10285788
M3 - Conference contribution
AN - SCOPUS:85175962224
T3 - Proceedings - 2023 10th International Conference on Computer, Control, Informatics and its Applications: Exploring the Power of Data: Leveraging Information to Drive Digital Innovation, IC3INA 2023
SP - 7
EP - 12
BT - Proceedings - 2023 10th International Conference on Computer, Control, Informatics and its Applications
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 10th International Conference on Computer, Control, Informatics and its Applications, IC3INA 2023
Y2 - 4 October 2023 through 5 October 2023
ER -
