Agus Widyianto, Edwar Yazid, Midriem Mirdanies, Rizqi Andry Ardiansyah, Rahmat, Mohamad Luthfi Ramadiansyah
A ship-mounted two-DoF manipulator is a very important water vehicle for coastal surveillance, and its operation is highly influenced by ocean waves. This paper proposes genetic algorithm (GA) and ant colony optimization (ACO) based PD controller to compensate the ship motions by tuning the gain values. Efficacy of proposed controller is not only highlighted using simulations but also through real-time experiments either without or with ship motions. The optimal gains obtained are Kp = 0.12442 and Kd = 0.023303 for ZN-PDC, Kp = 0.37227 and Kd = 0.021231 for GA-PDC while Kp = 0.39164 and Kd = 0.024367 for ACO-PDC. When the ACO-PDC is tested in a slight and very rough sea state, the resulting rise times are 0.3594s and 0.3781s, respectively. Meanwhile, the steady state is 4.9819 and 16.5638, respectively. Finding results show that ACO-PDC can compensate the ship motions better than Ziegler-Nichols PDC (ZN-PDC) and GA-PDC in terms of rise time, overshoot, and steady-state error values. © 2022 IEEE.
National Research and Innovation Agency (BRIN), Research Center for Smart Mechatronics, Bandung, Indonesia; Universitas Negeri Yogyakarta, Faculty of Engineering, Department of Automotive Engineering Education, Bandung, Yogyakarta, Indonesia
