Performance Analysis Of PID And Fuzzy Logic Controller For Unmanned Underwater Vehicle For Depth Control

Mohd Aras, Mohd Shahrieel and Sulaiman, Marizan and Yeoh, Eik Keong and Kasno, Mohammad `Afif and Mohamed Kassim, Anuar and Khamis, Alias (2017) Performance Analysis Of PID And Fuzzy Logic Controller For Unmanned Underwater Vehicle For Depth Control. Journal Of Telecommunication, Electronic And Computer Engineering (JTEC) , 9 (3-2). pp. 59-63. ISSN 2180-1843

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Abstract

This paper presents study and discussion of tuning process for PID and Fuzzy Logic Controller for Unmanned Underwater Vehicle (UUV) system. Autonomous Underwater Vehicle (AUV) is considered as an UUV where it is commonly used for detecting and mapping submerged wrecks, rocks, and obstructions that is hazardous to navigation for commercial and recreational vessels. The controllers will be designed to control motor thrusters of the AUV. The paper generally discusses PID and FLC, and the focus stresses more on FLC. Differences between both tuning processes will be discussed in details in this paper by covering method of conducting tuning process. Through the process, performance of the system can be analyzed and studied. The output of the system can be tuned or adjusted to a desired and satisfactory level using both of the methods mentioned. For FLCs, tuning process will be a trial-and-error, by making changes to the mapping of membership functions and fuzzy inference rules whereby PID, tuning can be made to the parameter values of the system.

Item Type:	Article
Uncontrolled Keywords:	Autonomous Underwater Vehicle; Fuzzy Logic Controller; PID; Unmanned Underwater Vehicle.
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:	28 May 2018 07:51
Last Modified:	09 Jul 2021 12:44
URI:	http://eprints.utem.edu.my/id/eprint/20863
Statistic Details:	View Download Statistic

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