DESIGN OF ROV STRAIGHT MOTION CONTROL USING PROPORTIONAL SLIDING MODE CONTROL METHOD
نویسندگان
چکیده
The development of underwater defense technology is commonly related to its usage for security and a country. need NKRI (the Republic Indonesia) an applicable multifunctional highly improved unmanned submarines urgent considering the current necessity modernization functioning as Main Weapon System Equipments (ALUTSISTA) be applied spy or automatic weapon. This paper focus on motion control system design with equation 2 Degree Freedom (DOF) submarine also called Remote Operated Vehicle (ROV). ROV requires maneuvering when underwater, especially in straight line motion. 2-DOF consisting surge roll motions form nonlinear equation. used Proportional Controller method combined Sliding Mode Control. simulation results SMC show that stable accuracy 95% - 99%.
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ژورنال
عنوان ژورنال: Barekeng
سال: 2022
ISSN: ['1978-7227', '2615-3017']
DOI: https://doi.org/10.30598/barekengvol16iss3pp1051-1058