Open AccessOPTIMIZATION OF TOURISTANT ASV WITH JACOBIAN APPROACH
Author(s) -
Teguh Herlambang,
Diecky Adzkiya,
Hendro Nurhadi
Publication year - 2019
Publication title -
jurnal asro (analisis sistem dan riset operasi)/jurnal asro
Language(s) - English
Resource type - Journals
eISSN - 2722-5763
pISSN - 2460-7037
DOI - 10.37875/asro.v10i2.133
Subject(s) - observability , controllability , jacobian matrix and determinant , linearization , control theory (sociology) , basis (linear algebra) , computer science , nonlinear system , observable , control engineering , mathematics , engineering , control (management) , physics , artificial intelligence , geometry , quantum mechanics
An Autonomous Surface Vehicle (ASV) is an unmanned ship that can automatically navigate itself in watery area. ASV can be utilized as tourism modes, transportation modes, Indonesian military (TNI) fleets or warships. In this paper, the study used a Touristant ASV prototype with a length of 3 meters, a diameter of 1.5 meters, and a height of 1.3 meters. The ASV motion system is a linear model with 3-DOF (surge, sway and yaw), resulted from the linearization of the ASV nonlinear model into a linear model which, then, was optimized as the basis of the navigation and guidance control system. The objective of this paper is to check the controllability and observability of the ASV Touristant linear model. The contribution of this paper is to provide numeric study on the controllability and observability of the model.
Keyword: ASV, 3-DOF, linear model, Optimization, Controlable, Observable