Modelling and controlling of Underwater Remotely Operated Vehicle vertical trajectory using Gradient Descent Algorithm Single Input Fuzzy Logic Controller and Fuzzy Logic Controller

Abstract

Nowadays, an underwater exploration and inspection are done by using underwater remotely operated vehicle (ROV) to enhance safety to human and ease of any underwater task. It is challenging to control an underwater ROV due to the uncertainty of underwater environment. Simultaneous maneuvering and manipulating manipulator make it even harder for ROV operator to control ROV in certain positions. To ease the operator job, ROV vertical trajectory controller was designed. The trajectory movement was modelled using System Identification (SI) modeling technique. The SI technique was implement using MATLAB SI toolbox. Step and multiple steps input were given to the system to get the relationships of input and output. Then, the controller used to control the ROV were classical fuzzy logic (FLC) controller and Single Input Fuzzy Logic tuned by Gradient Descent Algorithm (GDA-SIFLC). The SI modelling result 84.7% best fit and verified with the actual output. The actual model has high percent overshoot (%OS) and steady state error (SSE). The model was then implemented with FLC controller and GDA-SIFLC controller to enhance the response. The FLC controller and GDA-SIFLC controller implementation has successfully reduce the %OS and almost eliminate the SSE.