Fuzzy Logic Controller For Depth Control Of Underwater Remotely Operated Vehicle

Mohd Shahrieel, Mohd Aras and Shahrum Shah, Abdullah and Siti Yasmin, Othman and Marizan, Sulaiman and Mohd Farriz, Md Basar and Mohd Khairi, Mohd Zambri and Muhammad Nizam, Kamarudin (2016) Fuzzy Logic Controller For Depth Control Of Underwater Remotely Operated Vehicle. Journal Of Theoretical And Applied Information Technology, 91 (2). pp. 275-288. ISSN 1992-8645

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Abstract

Nowadays, unmanned underwater vehicle (UUV) is created to reduce human intervention in deep-water application. UUV can help human to make an underwater application that commonly used in deep water industries. During operation, the UUV undergoes a complex multi-axis motion trajectories that are highly nonlinear because the subsystems in the UUV are ill-defined and strongly coupled to each other. The conventional controller such as Proportional, Integral and Derivative (PID) and Proportional and Derivative (PD) have a problem to control nonlinear operation. The conventional controller hardly to achieve zero overshoot. Implementation of the controller on the UUV using Fuzzy Logic Controller (FLC) itself poses its own level of complexity. Consequently, implementation of FLC also requires fast and high-performance processors. The objectives of this paper are to study the effect of the tuning membership function to improved performances of the FLC for depth control using actual underwater Remotely Operated Vehicle (ROV) based on VideoRay ROV Pro III as well as to analyze performance of system response of depth control in terms of zero overshoot, faster rise time and small steady state error. Then, the proposed approach is verified using hardware interfacing between MATLAB/Simulink and Microbox 2000/2000C. The result shows FLC gives rather best performance in term of faster rise time, zero overshoot and small steady state error as compared with conventional controllers.

Item Type:	Article
Uncontrolled Keywords:	Fuzzy Logic Controller; Depth Control; Remotely operated Vehicle; Tuning Membership Function
Subjects:	T Technology > T Technology (General) T Technology > TC Hydraulic engineering. Ocean engineering
Divisions:	Faculty of Electrical Engineering
Depositing User:	Mohd Hannif Jamaludin
Date Deposited:	01 Nov 2016 02:57
Last Modified:	13 Sep 2021 13:02
URI:	http://eprints.utem.edu.my/id/eprint/17511
Statistic Details:	View Download Statistic

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