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Sliding mode control design for autonomous surface vehicle motion under the influence of environmental factor Nurhadi, Hendro; Apriliani, Erna; Herlambang, Teguh; Adzkiya, Dieky
International Journal of Electrical and Computer Engineering (IJECE) Vol 10, No 5: October 2020
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (341.862 KB) | DOI: 10.11591/ijece.v10i5.pp4789-4797

Abstract

Autonomous Surface Vehicle (ASV) is a vehicle that is operated in the water surface without any person in the vehicle. Since there is no person in the ASV, a motion controller is essentially needed. The control system is used to make sure that the water vehicle is moving at the desired speed. In this paper, we use a Touristant ASV with the following specifications: the length is 4 meters, the diameter is 1.625 meters, and the height is 1.027 meters. The main contribution of this paper is applying the Sliding Mode Control system to the Touristant ASV model under the influence of environmental factors. The environmental factors considered in this work are wind speed and wave height. The Touristant ASV model is nonlinear and uses three degree of freedom (DOF), namely surge, sway and yaw. The simulation results show that the performance of the closed-loop system by using the SMC method depends on the environmental factors. If environmental factors are higher, then the resulting error is also higher. The average error difference between those resulted from the simulation without environmental factors and those with the influence of environmental factors is 0.05% for surge, sway and yaw motions.
PERAMALAN PERSEDIAAN DARAH JENIS WHOLE BLOOD (WB) DI PMI KOTA SURABAYA DENGAN NEURAL NETWORK Herlambang, Teguh; Kamil, Ahmad Syafiq; Devi, Azmi Khulama
MathVisioN Vol 1 No 1 (2019): Maret 2019
Publisher : Prodi Matematika FMIPA Unirow Tuban

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (364.018 KB)

Abstract

Palang Merah Indonesia (PMI) adalah lembaga yang mendistriubusikan persedian darah. Pentingnya fungsi darah tersebut, maka PMI harus menjaga kestabilan stock darah. Hal tersebut dilakukan untuk menjamin ketersediaan darah, akan tetapi permasalahan yang dihadapi oleh pihak PMI yaitu adanya kelebihan darah yang mengakibatkan terjadinya pembuangan darah. Untuk meminimalkan kejadian tersebut maka dibutuhkan sebuah peramalan kebutuhan darah. Data permintaan darah dinormalisasikam terlebih dahulu dan selanjutnya dilakukan proses peramalan menggunakan metode Neural Network Backpropagation. Pada setiap jenis darah peramalan terbaik didapatkan pada epoch yang berbeda-beda. Pada jenis darah WB peramalan terbaik terjadi pada epoch 3000 dengan function Y = 1176,93 – 18,3264x + 0,142822 . dan dengan error 0,044016.
Estimasi Posisi Magnetic Levitation Ball Menggunakan Metode Akar Kuadrat Ensemble Kalman Filter (AK-EnKF) Herlambang, Teguh
R.E.M. (Rekayasa Energi Manufaktur) Jurnal Vol 2, No 1 (2017): June 2017
Publisher : Universitas Muhammadiyah Sidoarjo

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.21070/r.e.m.v2i1.768

Abstract

The role of Magnetic Levitation Ball in an industrial world is very important, among others, as system applied to a train moving on the rail at high speed (MAGLEV). Magnetic Levitation Ball is system consisting of a ferromagnetic solid steel ball floating over The surface of air medium when supplied with electromagnetic power which is hard to predict its position, and therefore estimations is required to estimate the position, and speed of the steel ball when the electromagnetic power is supplied to the steel ball. This paper was study on application of the modification of Ensemble Kalman Filter (EnKF) method by adding Root Square at the stage of corecction called Ensemble Kalman Filter Square Root (EnKF-SR). Implemented to the mathematical model of magnetic levitation ball and speed of ferromagentic steel ball the result of the simulation of EnKF-SR using mathematical model of magnetic levitation ball showed that the error was less than 2% by generating both 200 and 300 ensembles. The least error was observed when 200 ensemble was generated at which the position error of ball was 0.018 m, and speed of the bll was 0.016 m/s and the electric current was 0.018 A.
Prediksi Harga Saham pada PT. ABCD menggunakan Ensemble Kalman Filter Katias, Puspandam; Fidita, Denis; Herlambang, Teguh -
Zeta - Math Journal Vol 4 No 1 (2018): Mei 2018
Publisher : Universitas Islam Madura

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (257.916 KB) | DOI: 10.31102/zeta.2018.4.1.24-27

Abstract

Stock Exchange is established as an effort to link both stock / security sellers and buyers. Securities often traded in stock market is share. The intention of an investor in investment is to have the lowest risk and to gain the highest profit. To make decision for optimal investment, calculation on the estimate of future return to be gained is necessarily made. One of estimate calculation methods considered the most objective is by applying  the Ensemble Kalman filter (EnKF) method. Ensemble Kalman filter is a method of estimation of condition variable of discrete linear dynamic system that minimizes covarian error of estimation. So, this study aims to apply share price estimation method for close prices of share of PT. ABCD by Ensemble Kalman Filter method as investor consideration in investment with an error of  3% - 5%.
Peramalan Kebutuhan Darah Jenis Packet Red Cells (PRC) di PMI Kota Surabaya dengan Metode Jaringan Syaraf Tiruan Propagasi Balik Devi, Azmi Khulmala; Herlambang, Teguh -
Zeta - Math Journal Vol 4 No 1 (2018): Mei 2018
Publisher : Universitas Islam Madura

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (372.428 KB) | DOI: 10.31102/zeta.2018.4.1.7-11

Abstract

Human blood is liquid in human body, which functions to transport oxigen needed by cells to the whole body. Considering the important blood function, the Indonesian Red Cross (PMI) has to maintain its blood stock stability to ensure the blood availibility. But the problem that PMI has to encounter with is its blood over-supply which leads to blood disposal. To minimize its unnessary blood disposal, estimation of blood need is required. Data of blood demand is normalized first, then estimation is made using Neural Network Backpropagation. In this study the estimation is made to the blood type of Packet Red Cells (PRC), the blood cells stocked at PMI Kota Surabaya. The best simulation result is at epoch 3000 with function Y = 4542,33 – 1,64595 x – 0,244018 x^2 and an error of  0,020314.
Application Kohonen Network and Fuzzy C Means for Clustering Airports Based on Frequency of Flight Rahmalia, Dinita; Herlambang, Teguh
Kinetik: Game Technology, Information System, Computer Network, Computing, Electronics, and Control Vol 3, No 3, August 2018
Publisher : Universitas Muhammadiyah Malang

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (243.442 KB) | DOI: 10.22219/kinetik.v3i3.608

Abstract

In Indonesia, the demands of air tranportation for reaching destination increase rapidly. Based on the flight schedule in airports spreading in Indonesia, the airports have different flight demand rate so that it requires clustering. This research will use two methods for clustering : kohonen network and Fuzzy C Means (FCM).Kohonen network is the type neural network which uses unsupervised training.Kohonen network uses weight vectors for training while FCM uses degree of membership. Both kohonen network and FCM, inputs are represented by the number of departure and arrival of airline in one day. For kohonen network, we update weight matrices so that minimizing the sum of optimum euclidean distance. For FCM, we update degrees of membership so that minimizing the objective function value.From the simulations, we can cluster the airports based on the number of departure and arrival of airline.
Desain Sistem Kendali Gerak Surge, Sway dan Yaw pada Autonomous Underwater Vehicle dengan Metode Sliding Mode Control (SMC) Herlambang, Teguh
Limits: Journal of Mathematics and Its Applications Vol 14, No 1 (2017)
Publisher : Institut Teknologi Sepuluh Nopember

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (645.958 KB) | DOI: 10.12962/limits.v14i1.2210

Abstract

Kapal selam tanpa awak aatau yang biasa disebut Autonomous Underwater Vehicle (AUV)  merupakan salah satu jenis robot bawah air yang relatif flexibel untuk eksplorasi bawah laut dan peralatan sistem pertahanan bawah laut. AUV dikendalikan oleh komputer di atas kapal permukaan untuk melaju dan bergerak dengan enam derajat kebebasan (6-DOF). Untuk mengendalikan AUV dibutuhkan sistem kendali gerak. Pada penelitian ini dikembangkan sistem kendali gerak menggunakan model nonlinier 3-DOF AUV yaitu gerak surge, sway dan yaw dengan metode Sliding Mode Control (SMC). Hasil simulasi menunjukkan bahwa metode SMC dapat digunakan sebagai sistem kendali gerak 3-DOF dengan menghasilkan error 0.03% untuk gerak surge dan 0.04% untuk gerak sway serta 0.5% untuk gerak yaw.
Design of a Sliding PID Controller for The Surge and Roll Motion Control of UNUSAITS AUV Herlambang, Teguh; Nurhadi, Hendro
International Journal of Computing Science and Applied Mathematics Vol 3, No 2 (2017)
Publisher : Institut Teknologi Sepuluh Nopember

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (328.537 KB) | DOI: 10.12962/j24775401.v3i2.2292

Abstract

The development of underwater vehicle technology is commonly utilized in defences. NKRI needs this technology for applications and multifunctional technology becomes an important thing, since its modernization leads to developed AUV as Republics-of-Indonesia’s main weapon is sea defence. This paper proposes motion control system design applying equation of motion with 2 Degree of Freedom (DOF) to AUV system. The equation of AUV motion with 2-DOF covers surge motion and rolling motion is in the form of nonlinear equation. The control system design applied to the system of UNUSAITS AUV uses method of Sliding Proportional Integral Derivative (SPID). The result of SPID control system with the equation of motion with 2-DOF suggested that the stability of the system was reached when the resulted errors on surge motion and rolling motion were respectively 0.002% and 0.05%.
Estimasi Harga Saham pada PT. ABC dengan Algoritma Kalman Filter Katias, Puspandam; Herlambang, Teguh; Fidita, Denis
Zeta - Math Journal Vol 3 No 2 (2017): November 2017
Publisher : Universitas Islam Madura

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (736.785 KB) | DOI: 10.31102/zeta.2017.3.2.37-40

Abstract

Saham merupakan surat berharga sebagai bukti tanda penyertaan atau kepemilikan seseorang atau badan hukum dalam suatu perusahaan, khususnya perusahaan publik yang memperdagangkan sahamnya. Investasi dalam bentuk saham banyak dipilih para investor karena saham mampu memberikan keuntungan yang menarik. Dalam aktivitas perdagangan saham sehari-hari, harga-harga saham mengalami fluktuasi baik berupa kenaikan maupun penurunan. Dalam pemilihan investasi yang aman pada saham, investor memerlukan cara untuk menilai harga saham yang yang akan dibeli ataupun kemampuan saham tersebut memberikan deviden dimasa dating, sehingga bisa mengoptimalkan keuntungan. Cara yang benar dalam analisa akan mengurangi risiko bagi investor dalam berinvestasi adalah dapat mengestimasi harga saham. Salah satu metode untuk mengestimasi kenaikan dan penurunan harga saham, Estimasi dilakukan karena suatu masalah terkadang dapat diselesaikan dengan menggunakan informasi atau data sebelumnya yang berhubungan dengan masalah tersebut. Kalman filter merupakan suatu metode estimasi variabel keadaan dari sistem dinamik linear diskrit yang meminimumkan kovarian error estimasi. Maka dari itu pada penelitian ini diterapkan metode estmasi harga saham untuk high and low prize saham dengan metode Kalman Filter, sebagai bagan pertimbangan investor dalam berinvestasi.
ESTIMASI GERAK TRANSLASI AUTONOMOUS UNDERWATER VEHICLE DENGAN ENSEMBLE KALMAN FILTER (EnKF) Herlambang, Teguh; Subchan, Subchan
Teknika: Engineering and Sains Journal Vol 2, No 1 (2018): Juni 2018
Publisher : Universitas Maarif Hasyim Latif

Show Abstract | Download Original | Original Source | Check in Google Scholar

Abstract

Penelitian dan pengembangan dari Autonomous Underwater Vehicle cukup banyak diantaranya terkait sistem kendali, navigasi dan hidrodinamika. Pada umunya persamaan gerak AUV adalah 6 derajat kebebasan/Degree of Freedom (DOF) yang terdiri dari gerak translasi (surge, sway, heave) dan gerak rotasi (roll, pitch, yaw). Pada paper ini dikembangkan metode estimasi gerak tranlasi dari ITSUNUSA AUV dengan metode Ensemble Kalman Filter. Pada paper ini juga dibandingkan berdasarakn pembangkian julah ensemble. Hasil simulasi menunjukkan bahwa yang terakurat adalah dengan membangkitkan 300 ensemble dengan error kecepatan untuk gerak surge adalah 0,082%, gerak sway 0.498% dan gerak heave 0.26%.