PEMODELAN DAN PENGENDAL1AN PERAHU TAK BERAWAK

This paper presents the modeling and control of robotic boat. With the combination of mathematical analysis and system identification technique, we have developed a simple dynamic boat model suitable for controller design using low cost sensors. Using this ?node\u27 it no longer requires yaw sensor for control and navigation. We have designed 3 kinds of controllers, Proportional Integral and Derivative(PID) , Linear Quadratic Integral (LQI), and Sliding Mode Control(SMC). These controllers are implemented on a boat configured with low-cost GPS and rate gyro. Through experiments carried out in the sea the boat is able to follow the desired direction with small error