Baity Jannaty

Institut Teknologi Sepuluh Nopember, Indonesia

Muhammadun

Universitas Airlangga, Indonesia

Kiki Mustaqim

Universitas Logistik dan Bisnis Internasional, Indonesia

DOI: https://doi.org/10.19184/kdma.v14i3.44356 

ABSTRACT 

In this paper discussed about ship heading control problem. Ship heading control is one of the ship control problem in the application in the marine field. Controllers are needed to increase the level of safety when the ship is maneuvering. With rudder angle as input control, the heading angle controlled therefore it can reach reference heading angle with minimum energy. Due to the maneuver characteristics, the rudder efficiency for large ships can be poor under slow-speed conditions. Therefore, to maintain the safe navigation of ships, accurate heading control research is crucial. In this research we use Nomoto model, considering only one degree of freedom, that is yaw. The ships used as model is Warship Class Corvette SIGMA. Proportional Integral Derivative (PID) control is used on that ship as controller. In this research, we compare two method for control the heading angle, that is Proportional Integral Derivative (PID) and Model Predictive Control (MPC). The urgency of the comparison between both method is to provide control considerations applicable to the Warship Class Corvette SIGMA. PID is a controller that determine the presition of an instrumentation system with feedback characteristic on the system. MPC is a control technique, which embeds optimization within feedback to deal with systems subject to constraints on inputs and states. From the simulation result, MPC can compansate the disturbance better than PID. The time to reach reference angle when controlled using MPC faster than using PID. The results show the advantage of MPC for dealing with the system dynamics over PID, also could be designed for faster and more complex system dynamics even in presence of constraints.   

Keywords: Ship heading control, Proportional Integral Derivative (PID), Model Predictive Control (MPC), rudder angle

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