Design of sliding mode control for surge, heave and pitch motion control of UNUSAITS AUV

Hendro Nurhadi*, Teguh Herlambang, Subchan

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

2 Citations (Scopus)

Abstract

AUV has 6 degrees of freedom derived from a propulsion system that regulates the angular speed of AUV and the fin system that adjusts the angle of the fin and rudder positions. In this paper, an AUV motion control system design for diving was developed, that is, the control system of surge, heave and pitch motions by applying Sliding Mode Control (SMC) method. The AUV specification used in this study was an UNUSAITS AUV with a length of 1.5 meters, a weight of 16 kilograms using controller of arduino mega 2.0. The main contribution of this paper is Control system for nonlinear models of 3-DOF UNUSAITS AUV. The results of simulation showed that the SMC method could be effectively applied as a 3-DOF motion control system with an error of 5% for surge motion and 0.01% for heave motion and 2% for pitch motion.

Original languageEnglish
Title of host publicationInnovative Science and Technology in Mechanical Engineering for Industry 4.0
Subtitle of host publicationProceedings of the 4th International Conference on Mechanical Engineering, ICOME 2019
EditorsVivien Djanali, Fahmi Mubarok, Bambang Pramujati, Suwarno
PublisherAmerican Institute of Physics Inc.
ISBN (Electronic)9780735419346
DOIs
Publication statusPublished - 10 Dec 2019
Event4th International Conference on Mechanical Engineering: Innovative Science and Technology in Mechanical Engineering for Industry 4.0, ICOME 2019 - Yogyakarta, Indonesia
Duration: 28 Aug 201929 Aug 2019

Publication series

NameAIP Conference Proceedings
Volume2187
ISSN (Print)0094-243X
ISSN (Electronic)1551-7616

Conference

Conference4th International Conference on Mechanical Engineering: Innovative Science and Technology in Mechanical Engineering for Industry 4.0, ICOME 2019
Country/TerritoryIndonesia
CityYogyakarta
Period28/08/1929/08/19

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