Abstract

Autonomous Surface Vehicle (ASV) is a vehicle in the form of a ship on the surface of the water that can move without a crew on it or operate automatically. One example of ASV is the intelligent boat (i-BOAT) which was developed by ITS. Due to the ASV moving without crew, a control system is needed to keep the ASV moving regularly. Therefore, in this study, ASV motion control is performed on a nonlinear 3DOF model (surge, sway and yaw) using Proportional Integral Derivative (PID) method. The PID method is used to control the ASV to move along the desired trajectory at a certain speed. There are two scenarios applied, first for the ASV to follow y=0 track with the ASV's initial position being on the track and surge speed u=10m/s. Second, for the ASV to follow y=7 track with the ASV's initial position being off the track and surge speed u=5m/s. The simulation results show that the PID method can control the surge speed, yaw angle and ASV position well in both scenarios with performance that complies with the design criteria.

Original languageEnglish
Title of host publication2021 International Conference on Advanced Mechatronics, Intelligent Manufacture and Industrial Automation, ICAMIMIA 2021 - Proceeding
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages131-136
Number of pages6
ISBN (Electronic)9781665499699
DOIs
Publication statusPublished - 2021
Event2021 International Conference on Advanced Mechatronics, Intelligent Manufacture and Industrial Automation, ICAMIMIA 2021 - Surabya, Indonesia
Duration: 8 Dec 20219 Dec 2021

Publication series

Name2021 International Conference on Advanced Mechatronics, Intelligent Manufacture and Industrial Automation, ICAMIMIA 2021 - Proceeding

Conference

Conference2021 International Conference on Advanced Mechatronics, Intelligent Manufacture and Industrial Automation, ICAMIMIA 2021
Country/TerritoryIndonesia
CitySurabya
Period8/12/219/12/21

Keywords

  • Autonomous Surface Vehicle (ASV)
  • Intelligent Boat (i-BOAT)
  • Proportional Integral Derivative (PID)

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