Optimasi Model Linier 6-DOF pada Sistem Autonomous Underwater Vehicle
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Abstract
Pada paper ini dilakukan optimasi dari sistem UNUSAITS AUV melalui linierisari model nonlinier dengan matriks Jacobi. Selanjutnya hasil linierisasi dianalisa terkait sifat keterkontrolan dan keteramatan tanpa sistem kendali. Model linier dalam 6 derajat kebebasan (DOF) yang terdiri dari 2 gerakan yaitu gerak translasi dan rotasi, di mana gerak translasi terdiri dari gerak surge, sway dan heave, sedangkan gerak rotasi terdiri dari gerak roll, pitch dan yaw. Hasil optimasi terhadap model linier pada sistem UNUSAITS AUV menunjukkan bahwa sistem terkontrol dan teramati sehingga model linier pada sistem UNUSAITS AUV dapat diterapkan sistem navigasi, panduan dan kendali. Pada penerapan model linier AUV dengan sistem kendali PID menghasilkan error 0.4% - 17.3%.
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