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Autonomous Surface Vehicle (ASV) is a vehicle that is operated in the water surface without any person in the vehicle. Since there is no person in the ASV, a motion controller is essentially needed. The control system is used to make sure that the water vehicle is moving at the desired speed. In this paper, we use a Touristant ASV with the following specifications: the length is 4 meters, the diameter is 1.625 meters, and the height is 1.027 meters. The main contribution of this paper is applying the Sliding Mode Control system to the Touristant ASV model under the influence of environmental factors. The environmental factors considered in this work are wind speed and wave height. The Touristant ASV model is nonlinear and uses three degree of freedom (DOF), namely surge, sway and yaw. The simulation results show that the performance of the closed-loop system by using the SMC method depends on the environmental factors. If environmental factors are higher, then the resulting error is also higher. The average error difference between those resulted from the simulation without environmental factors and those with the influence of environmental factors is 0.05% for surge, sway and yaw motions.

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AbstrakPada paper ini akan dibahas mengenai perbandingan metode estimasi antara Kalman Filter, Extended Kalman Filter dan Ensemble Kalman Filter untuk mengestimasi tingkat penyebaran virus HIV/AIDS pada Gay. Digunakan persamaan , , , , dan pada persamaan untuk mengetahui tingkat penyebaran virus HIV pada orang yang rentan normal, rentan gay, terinfeksi normal, terinfeksi gay, dan populasi AIDS-nya. Dari beberapa simulasi yang dilakukan, dapat didapatkan hasil bahwa Metode Extended Kalman Filter juah lebih baik dibandingkan dengan kedua metode lainnya. Kata Kunci: Kalman Filter, Extended Kalman Filter, Ensemble Kalman Filter, HIV/AIDSAbstract This paper presents a performance comparison of Kalman Filtering methods, such as Kalman Filter, Extended Kalman Filter, and Ensemble Kalman Filter to estimate HIV/AIDS' spreading level on gay population by denoting , , , , as normal susceptible, gay susceptible, normal infected, gay infected, and AIDS population, respectively. The results of numerical experiments provide that Extended Kalman Filter is the best estimator among the others.

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