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DESIGN OF ROV STRAIGHT MOTION CONTROL USING PROPORTIONAL SLIDING MODE CONTROL METHOD

BAREKENG: Jurnal Ilmu Matematika dan Terapan · Vol. 16 No. 3 (2022) · pp. 1051–1058

DOI
10.30598/barekengvol16iss3pp1051-1058
ISSN
2615-3017, 1978-7227
Published
2022-09-01
Publisher
PATTIMURA UNIVERSITY
Language
eng
License
creativecommons.org/licenses/by-sa/4.0

Abstract

The development of underwater defense technology is commonly related to its usage for security and defense of a country. The need of NKRI (the Republic of Indonesia) for an applicable and multifunctional technology for highly improved unmanned submarines is urgent considering the current necessity of unmanned technology modernization functioning as The Main Weapon System Equipments (ALUTSISTA) to be applied as a spy technology or automatic weapon. This paper focus is on a motion control system design with the motion equation of 2 Degree of Freedom (DOF) applied to an unmanned submarine system or also called a Remote Operated Vehicle (ROV). ROV requires a control system to control its maneuvering motion when underwater, especially in a straight line motion. The ROV motion equation of 2-DOF consisting of surge and roll motions is in the form of a nonlinear equation. The system control design applied to the ROV system used the Proportional Controller method combined with Sliding Mode Control. The simulation results of the Proportional SMC control system with the motion equation of 2-DOF on the ROV system show that the system is stable with an accuracy of surge and roll motions of 95% - 99%.

Collaboration network of the authors

40 authors · 110 co-authorship links · 12 across different organisations · showing the 40 most connected

Hover or tap a name to highlight its co-authors. Double-click to open the author's page.

  • Institut Teknologi Sepuluh Nopember
  • Universitas Nahdlatul Ulama Surabaya
  • Darul Ulum Islamic University
  • Universitas Muhammadiyah Malang
  • Universitas Airlangga
  • Institut Agama Islam Negeri Kendari
  • Affiliation unknown
  • Different organisations
  • Same organisation
  • Affiliation unknown
  • Thicker line = more joint articles · bigger circle = more articles
Show as table
Co-authorOrganisationJoint articles
Hendro NurhadiInstitut Teknologi Sepuluh Nopember12
Dinita RahmaliaDarul Ulum Islamic University5
Hamzah ArofAffiliation unknown4
Moch ZakariaAffiliation unknown3
Muhammad Sawal BaitalAffiliation unknown3
Angga Adhitya WidjanarkoAffiliation unknown3
Yuliyanto Agung PrabowoAffiliation unknown3
Dieky AdzkiyaInstitut Teknologi Sepuluh Nopember2
Zeth Arthur LeleuryAffiliation unknown2
Katherin IndriawatiInstitut Teknologi Sepuluh Nopember2
Reza Maliki AkbarAffiliation unknown2
Vaizal Asy'ariAffiliation unknown2
Abdul MuhithAffiliation unknown2
Dian AdriantoAffiliation unknown2
Akas Yekti Pulih AsihAffiliation unknown2
Puguh TriwinantoAffiliation unknown2
Rachman Sinatriya MarjiantoAffiliation unknown2
Erna AprilianiInstitut Teknologi Sepuluh Nopember1
Mayga KikiInstitut Teknologi Sepuluh Nopember1
Thomy Eko SaputroUniversitas Muhammadiyah Malang1
Elvinus R. PersulessyAffiliation unknown1
Glevi E. MadoAffiliation unknown1
Dorteus L. RahakbauwAffiliation unknown1
Y. SambonoAffiliation unknown1
Yopi Andry LesnussaAffiliation unknown1
Subchan SubchanAffiliation unknown1
Mozart Winston TalakuaAffiliation unknown1
Venn Yan Ishak IlwaruAffiliation unknown1
Nyoman JuniartaInstitut Teknologi Sepuluh Nopember1
Aji Akbar FirdausUniversitas Airlangga1
Ragil Puji RahayuAffiliation unknown1
Dina NovitaAffiliation unknown1
Arasy AlimudinAffiliation unknown1
Nurwijayanti NurwijayantiInstitut Agama Islam Negeri Kendari1
Panca RadonoAffiliation unknown1

Affiliations come from OpenAlex; journal OAI-PMH metadata carries none. Authors without an OpenAlex ID are matched by name, which can merge or split people.

Metadata source: OAI-PMH (metadata jurnal) https://ojs3.unpatti.ac.id/index.php/barekeng/oai, first harvested 5 Nov 2026, last seen 5 Nov 2026.
Original metadata (oai_dc) 
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	<dc:title xml:lang="en-US">DESIGN OF ROV STRAIGHT MOTION CONTROL USING PROPORTIONAL SLIDING MODE CONTROL METHOD</dc:title>
	<dc:creator>Yudianto, Firman</dc:creator>
	<dc:creator>Herlambang, Teguh</dc:creator>
	<dc:creator>Susanto, Fajar Annas</dc:creator>
	<dc:creator>Suryowinoto, Andy</dc:creator>
	<dc:creator>Tomasouw, Berny Pebo</dc:creator>
	<dc:description xml:lang="en-US">The development of underwater defense technology is commonly related to its usage for security and defense of a country. The need of NKRI (the Republic of Indonesia) for an applicable and multifunctional technology for highly improved unmanned submarines is urgent considering the current necessity of unmanned technology modernization functioning as The Main Weapon System Equipments (ALUTSISTA) to be applied as a spy technology or automatic weapon. This paper focus is on a motion control system design with the motion equation of 2 Degree of Freedom (DOF) applied to an unmanned submarine system or also called a Remote Operated Vehicle (ROV). ROV requires a control system to control its maneuvering motion when underwater, especially in a straight line motion. The ROV motion equation of 2-DOF consisting of surge and roll motions is in the form of a nonlinear equation. The system control design applied to the ROV system used the Proportional Controller method combined with Sliding Mode Control. The simulation results of the Proportional SMC control system with the motion equation of 2-DOF on the ROV system show that the system is stable with an accuracy of surge and roll motions of 95% - 99%.</dc:description>
	<dc:publisher xml:lang="en-US">PATTIMURA UNIVERSITY</dc:publisher>
	<dc:date>2022-09-01</dc:date>
	<dc:type>info:eu-repo/semantics/article</dc:type>
	<dc:type>info:eu-repo/semantics/publishedVersion</dc:type>
	<dc:format>application/pdf</dc:format>
	<dc:identifier>https://ojs3.unpatti.ac.id/index.php/barekeng/article/view/6296</dc:identifier>
	<dc:identifier>10.30598/barekengvol16iss3pp1051-1058</dc:identifier>
	<dc:source xml:lang="en-US">BAREKENG: Jurnal Ilmu Matematika dan Terapan; Vol 16 No 3 (2022): BAREKENG: Journal of Mathematics and Its Applications; 1051-1058</dc:source>
	<dc:source>2615-3017</dc:source>
	<dc:source>1978-7227</dc:source>
	<dc:source>10.30598/barekengvol16iss3year2022</dc:source>
	<dc:language>eng</dc:language>
	<dc:relation>https://ojs3.unpatti.ac.id/index.php/barekeng/article/view/6296/4629</dc:relation>
	<dc:rights xml:lang="en-US">Copyright (c) 2022 Firman Yudianto, Teguh Herlambang, Fajar Annas Susanto, Andy Suryowinoto, Berny Pebo Tomasouw</dc:rights>
	<dc:rights xml:lang="en-US">http://creativecommons.org/licenses/by-sa/4.0</dc:rights>
</oai_dc:dc>