A Robust Control via a Fuzzy System with PID for the ROV

Junjie Dong, Xingguang Duan

2023Sensors26 citationsDOI Open Access PDF

Abstract

Uncertainty and nonlinearity in the depth control of remotely operated vehicles (ROVs) have been widely studied, especially in complex underwater environments. To improve the motion performance of ROVs and enhance their robustness, the model of ROV depth control in complex water environments was developed. The developed control scheme of interval type-2 fuzzy proportional-integral-derivative control (IT2FPID) is based on proportional-integral-derivative control (PID) and interval type-2 fuzzy logic control (IT2FLC). The performance indicators were used to evaluate the immunity of the controller type to external disturbances. The overshoot of 0.3% and settling time of 7.5 s of IT2FPID seem to be more robust compared to those of type-1 fuzzy proportional-integral-derivative (T1FPID) and PID.

Topics & Concepts

PID controllerControl theory (sociology)Overshoot (microwave communication)Remotely operated underwater vehicleSettling timeFuzzy logicRobustness (evolution)Fuzzy control systemControl engineeringControl systemUnderwaterComputer scienceEngineeringStep responseControl (management)Artificial intelligenceMobile robotRobotTemperature controlGeologyChemistryElectrical engineeringBiochemistryTelecommunicationsGeneOceanographyAdaptive Control of Nonlinear SystemsFuzzy Logic and Control SystemsUnderwater Vehicles and Communication Systems