Zohedi, Fauzal Naim and Mohd Aras, Mohd Shahrieel and Kasdirin, Hyreil Anuar and Bahar, Mohd Bazli and Aripin, Muhamad Khairi and Abdul Azis, Fadilah and Harun, Mohamad Haniff (2024) Hardware analysis of gradient descent algorithm single input fuzzy logic (GDA-SIFLC) controller implementation to vertical trajectory of underwater remotely operated vehicle (ROV). In: Proceedings of the 13th National Technical Seminar on Unmanned System Technology 2023.
![[img]](http://eprints.utem.edu.my/style/images/fileicons/text.png) |
Text
Hardware Analysis of Gradient Descent Algorithm Single Input Fuzzy Logic (GDA-SIFLC) Controller Implementation to Vertical Trajectory of Underwater Remotely Operated Vehicle (ROV).pdf Restricted to Registered users only Download (1MB) |
Abstract
Underwater remotely operated vehicle (ROV) is important in doing underwater exploration and monitoring especially in oil and gas industries. To do any underwater task, ROV must be maintained at certain depth to ensure visibility and optimal manipulator reach. Simultaneous handling of holding depth position and handling manipulator make it tough for ROV pilot to accomplish needed task. Due to this, a vertical trajectory or depth controller was proposed to ease the ROV pilot in doing underwater tasks. The trajectory of ROV prototype was modelled using system identification (SI) technique and then a controller was designed and implemented practically. The control technique used was gradient descent algorithm single input fuzzy logic (GDA-SIFLC) controller. MATLAB software was used to model the trajectory, designed controller, implemented practically and analysis of the result. A step input signal was supplied to ROV vertical trajectory to model the ROV using SI. The best fit of 83.32% was obtained and successfully verified with actual plan. Errors were analyzed and GDA-SIFLC controller was implemented. The GDA-SIFLC controller has successfully eliminated the steady state error (SSE) produced by the actual plan.
| Item Type: | Conference or Workshop Item (Paper) |
|---|---|
| Uncontrolled Keywords: | System identification (SI) modelling, Remotely operated vehicle (ROV), Depth control, Single input fuzzy logic (SIFLC), Gradient descent algorithm (GDA) |
| Divisions: | Faculty Of Electrical Technology And Engineering |
| Depositing User: | NUR FARISAH JAFRIN |
| Date Deposited: | 23 Jul 2026 00:35 |
| Last Modified: | 23 Jul 2026 00:35 |
| URI: | http://eprints.utem.edu.my/id/eprint/29882 |
| Statistic Details: | View Download Statistic |
Actions (login required)
 |
View Item |