TY - GEN
T1 - Design of Sliding Mode Control for Linearized Touristant ASV Model
AU - Adzkiya, Dieky
AU - Nurhadi, Hendro
AU - Herlambang, Teguh
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/10
Y1 - 2019/10
N2 - An Autonomous Surface Vehicle (ASV) is an unmanned vessel that can automatically navigate itself in water and can be controlled from land. It is necessary to control the speed of ASV by designing a controller. In this paper, the study used an ASV Touristant prototype with a length of 4.12 meters, a height of 1.027 meters and a diameter of 1.625 meters. The motion is described by a 3-DOF (surge, sway and yaw) linear model resulting from the linearization of the 3-DOF nonlinear model. The objective of this paper is to compare the performance of the Sliding Mode Control (SMC) over the linearized ASV model in the presence of disturbance and in the disturbance-free case. In the disturbance-free case, the steady state error is approximately 0.2% with a settling time of about 8 seconds. The overshoot from the response of all motions is 0%. In the presence of disturbance, the steady state error is about 0.22% with a settling time of about 9 seconds. The overshoot of the response of all motions is 0%.
AB - An Autonomous Surface Vehicle (ASV) is an unmanned vessel that can automatically navigate itself in water and can be controlled from land. It is necessary to control the speed of ASV by designing a controller. In this paper, the study used an ASV Touristant prototype with a length of 4.12 meters, a height of 1.027 meters and a diameter of 1.625 meters. The motion is described by a 3-DOF (surge, sway and yaw) linear model resulting from the linearization of the 3-DOF nonlinear model. The objective of this paper is to compare the performance of the Sliding Mode Control (SMC) over the linearized ASV model in the presence of disturbance and in the disturbance-free case. In the disturbance-free case, the steady state error is approximately 0.2% with a settling time of about 8 seconds. The overshoot from the response of all motions is 0%. In the presence of disturbance, the steady state error is about 0.22% with a settling time of about 9 seconds. The overshoot of the response of all motions is 0%.
KW - autonomous surface vehicle
KW - control systems
KW - linear models
KW - sliding mode control
UR - http://www.scopus.com/inward/record.url?scp=85088309337&partnerID=8YFLogxK
U2 - 10.1109/ICAMIMIA47173.2019.9223397
DO - 10.1109/ICAMIMIA47173.2019.9223397
M3 - Conference contribution
AN - SCOPUS:85088309337
T3 - 2019 International Conference on Advanced Mechatronics, Intelligent Manufacture and Industrial Automation, ICAMIMIA 2019 - Proceeding
SP - 329
EP - 333
BT - 2019 International Conference on Advanced Mechatronics, Intelligent Manufacture and Industrial Automation, ICAMIMIA 2019 - Proceeding
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 International Conference on Advanced Mechatronics, Intelligent Manufacture and Industrial Automation, ICAMIMIA 2019
Y2 - 9 October 2019 through 10 October 2019
ER -