Adaptive simplified fuzzy logic controller for depth control of underwater remotely operated vehicle

A Remotely Operated Vehicle (ROV) is one class of the unmanned underwater vehicles that is tethered, unoccupied, highly manoeuvrable, and operated by a person on a platform on water surface. For depth control of ROV, an occurrence of overshoot in the system response is highly dangerous. Clearly an o...

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Main Author:	Mohd. Aras, Mohd. Shahrieel
Format:	Thesis
Language:	English
Published:	2015
Subjects:	TK Electrical engineering Electronics Nuclear engineering
Online Access:	http://eprints.utm.my/id/eprint/77749/1/MohdShahrieelMohdPFKE2015.pdf
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id	my-utm-ep.77749
record_format	uketd_dc
spelling	my-utm-ep.777492018-07-04T11:42:57Z Adaptive simplified fuzzy logic controller for depth control of underwater remotely operated vehicle 2015-04 Mohd. Aras, Mohd. Shahrieel TK Electrical engineering. Electronics Nuclear engineering A Remotely Operated Vehicle (ROV) is one class of the unmanned underwater vehicles that is tethered, unoccupied, highly manoeuvrable, and operated by a person on a platform on water surface. For depth control of ROV, an occurrence of overshoot in the system response is highly dangerous. Clearly an overshoot in the ROV vertical trajectory may cause damages to both the ROV and the inspected structure. Maintaining the position of a small scale ROV within its working area is difficult even for experienced ROV pilots, especially in the presence of underwater currents and waves. This project, focuses on controlling the ROV vertical trajectory as the ROV tries to remain stationary on the desired depth and having its overshoot, rise time and settling time minimized. This project begins with a mathematical and empirical modelling to capture the dynamics of a newly fabricated ROV, followed by an intelligent controller design for depth control of ROV based on the Single Input Fuzzy Logic Controller (SIFLC). Factors affecting the SIFLC were investigated including changing the number of rules, using a linear equation instead of a lookup table and adding a reference model. The parameters of the SIFLC were tuned by an improved Particle Swarm Optimization (PSO) algorithm. A novel adaptive technique called the Adaptive Single Input Fuzzy Logic Controller (ASIFLC) was introduced that has the ability to adapt its parameters depending on the depth set point used. The algorithm was verified in MATLAB® Simulink platform. Then, verified algorithms were tested on an actual prototype ROV in a water tank. Results show it was found that the technique can effectively control the depth of ROV with no overshoot and having its settling time minimized. Since the algorithm can be represented using simple mathematical equations, it can easily be realized using low cost microcontrollers. 2015-04 Thesis http://eprints.utm.my/id/eprint/77749/ http://eprints.utm.my/id/eprint/77749/1/MohdShahrieelMohdPFKE2015.pdf application/pdf en public http://dms.library.utm.my:8080/vital/access/manager/Repository/vital:96710 phd doctoral Universiti Teknologi Malaysia, Faculty of Electrical Engineering Faculty of Electrical Engineering
institution	Universiti Teknologi Malaysia
collection	UTM Institutional Repository
language	English
topic	TK Electrical engineering Electronics Nuclear engineering
spellingShingle	TK Electrical engineering Electronics Nuclear engineering Mohd. Aras, Mohd. Shahrieel Adaptive simplified fuzzy logic controller for depth control of underwater remotely operated vehicle
description	A Remotely Operated Vehicle (ROV) is one class of the unmanned underwater vehicles that is tethered, unoccupied, highly manoeuvrable, and operated by a person on a platform on water surface. For depth control of ROV, an occurrence of overshoot in the system response is highly dangerous. Clearly an overshoot in the ROV vertical trajectory may cause damages to both the ROV and the inspected structure. Maintaining the position of a small scale ROV within its working area is difficult even for experienced ROV pilots, especially in the presence of underwater currents and waves. This project, focuses on controlling the ROV vertical trajectory as the ROV tries to remain stationary on the desired depth and having its overshoot, rise time and settling time minimized. This project begins with a mathematical and empirical modelling to capture the dynamics of a newly fabricated ROV, followed by an intelligent controller design for depth control of ROV based on the Single Input Fuzzy Logic Controller (SIFLC). Factors affecting the SIFLC were investigated including changing the number of rules, using a linear equation instead of a lookup table and adding a reference model. The parameters of the SIFLC were tuned by an improved Particle Swarm Optimization (PSO) algorithm. A novel adaptive technique called the Adaptive Single Input Fuzzy Logic Controller (ASIFLC) was introduced that has the ability to adapt its parameters depending on the depth set point used. The algorithm was verified in MATLAB® Simulink platform. Then, verified algorithms were tested on an actual prototype ROV in a water tank. Results show it was found that the technique can effectively control the depth of ROV with no overshoot and having its settling time minimized. Since the algorithm can be represented using simple mathematical equations, it can easily be realized using low cost microcontrollers.
format	Thesis
qualification_name	Doctor of Philosophy (PhD.)
qualification_level	Doctorate
author	Mohd. Aras, Mohd. Shahrieel
author_facet	Mohd. Aras, Mohd. Shahrieel
author_sort	Mohd. Aras, Mohd. Shahrieel
title	Adaptive simplified fuzzy logic controller for depth control of underwater remotely operated vehicle
title_short	Adaptive simplified fuzzy logic controller for depth control of underwater remotely operated vehicle
title_full	Adaptive simplified fuzzy logic controller for depth control of underwater remotely operated vehicle
title_fullStr	Adaptive simplified fuzzy logic controller for depth control of underwater remotely operated vehicle
title_full_unstemmed	Adaptive simplified fuzzy logic controller for depth control of underwater remotely operated vehicle
title_sort	adaptive simplified fuzzy logic controller for depth control of underwater remotely operated vehicle
granting_institution	Universiti Teknologi Malaysia, Faculty of Electrical Engineering
granting_department	Faculty of Electrical Engineering
publishDate	2015
url	http://eprints.utm.my/id/eprint/77749/1/MohdShahrieelMohdPFKE2015.pdf
_version_	1747817821544382464

Adaptive simplified fuzzy logic controller for depth control of underwater remotely operated vehicle

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