A new tuning approach of Single Input Fuzzy Logic Controller (SIFLC) for Remotely Operated Vehicle (ROV) Depth Control
Fauzal Naim Zohedi, Mohd Shahrieel Mohd Aras, Hyreil Anuar Kasdirin, Mohd Bazli Bahar
Abstract
Remotely Operated Vehicle (ROV) is an important vehicle to do underwater task. The uncertainty environment of underwater make it harder for ROV to maneuver and hold position at certain depth. Research on ROV controller for holding position had been conducted. Proportional, Integral and Derivative (PID), Fuzzy Logic Controller (FLC) and Single Input Fuzzy Logic Controller (SIFLC) was designed and compared. This paper discusses the modelling of developed ROV and tuning the SIFLC to get the best transient response. Steady state error (SSE), percent overshoot (%OS), time rise (Tr) and settling time (Ts) were analyzed to select the best controller.
Topics & Concepts
Remotely operated underwater vehicleRemotely operated vehicleFuzzy logicController (irrigation)Computer scienceControl theory (sociology)Control engineeringControl (management)EngineeringAutomotive engineeringArtificial intelligenceMobile robotRobotAgronomyBiologyAdvanced Algorithms and Applications