Comparative Analysis of SMC and FSMC on Autonomous Underwater Vehicle (AUV) with Active Ballast

Geographically Indonesia is the largest marine country in the world which has a sea area of 5.8 million km
²
. In order to protect assets in the seas of Indonesian, it is needed a tool that can penetrate deep waters. Autonomous Underwater Vehicle (AUV) is an unmanned underwater vehicle capable of helping humans. The AUV has a ballast tank which useful to maintain the balance of the AUV’s position. Therefore, a control system is needed on the AUV. In this research, a control design will be carried out to find out the optimal motion system for an Autonomous Underwater Vehicle with active ballast using the Fuzzy Sliding Mode Control (FSMC) and Sliding Mode Control (SMC) method. The motions reviewed in this study are only 3DOF, namely surge, yaw and heave. The simulation results with FSMC have better results than the uncontrolled system. Meanwhile, the SMC used on the Autonomous Underwater Vehicle is better than the output generated by the FSMC.