Open AccessDevelopment of an Automatic Anti Pitching System (APS) Autonomous Surface Vehicle (ASV) for Fish Mapping
Author(s) -
Noverdo Saputra,
Muhammad Arifudin Lukmana,
Purwo Joko Suranto
Publication year - 2020
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1569/3/032033
Subject(s) - pid controller , control theory (sociology) , controller (irrigation) , open loop controller , computer science , control engineering , engineering , control (management) , artificial intelligence , temperature control , agronomy , closed loop , biology
The common problem occurs in fish mapping using autonomous surface vehicles (ASV) is pitching stability. Some researchers have indicated that problem affects the results of mapping. The target of this system is to design an Autonomous Pitching System (APS) for ASV using numerical simulation software. The simulation is done by implement APS into the system, producing an oscillatory motion from the ASV. For both dynamics of craft in short and long periods, APS with proportional controller (P), proportional-integral controller (PI), and proportional-integral-derivative controller (PID) are developed in order to minimize the oscillatory behaviour. It was found that for the short period dynamics, the APS with PI controller was the optimal controller, followed by the PID controller and then the P controller. For the long period dynamics, the APS with PID controller was optimal.