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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 a...

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Main Author: Mohd Shahrieel , Mohd Aras
Format: Thesis
Language:English
Published: 2015
Subjects:
TC Hydraulic engineering. Ocean engineering
Online Access:http://eprints.utem.edu.my/id/eprint/15620/1/ADAPTIVE%20SIMPLIFIED%20FUZZY%20LOGIC%20CONTROLLER%20FOR%20DEPTH%20CONTROL%20OF%20UNDERWATER%20REMOTELY%20OPERATED%20VEHICLE%2024pages.pdf
http://eprints.utem.edu.my/id/eprint/15620/
http://library.utem.edu.my:8000/elmu/index.jsp?module=webopac-d&action=graphicFullDisplayRetriever.jsp&szMaterialNo=0000094501
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spelling my.utem.eprints.156202022-04-07T12:25:46Z http://eprints.utem.edu.my/id/eprint/15620/ Adaptive simplified fuzzy logic controller for depth control of underwater remotely operated vehicle Mohd Shahrieel , Mohd Aras TC Hydraulic engineering. Ocean 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 NonPeerReviewed text en http://eprints.utem.edu.my/id/eprint/15620/1/ADAPTIVE%20SIMPLIFIED%20FUZZY%20LOGIC%20CONTROLLER%20FOR%20DEPTH%20CONTROL%20OF%20UNDERWATER%20REMOTELY%20OPERATED%20VEHICLE%2024pages.pdf Mohd Shahrieel , Mohd Aras (2015) Adaptive simplified fuzzy logic controller for depth control of underwater remotely operated vehicle. UNSPECIFIED thesis, Universiti Teknikal Malaysia Melaka. http://library.utem.edu.my:8000/elmu/index.jsp?module=webopac-d&action=graphicFullDisplayRetriever.jsp&szMaterialNo=0000094501
institution Universiti Teknikal Malaysia Melaka
building UTEM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Teknikal Malaysia Melaka
content_source UTEM Institutional Repository
url_provider http://eprints.utem.edu.my/
language English
topic TC Hydraulic engineering. Ocean engineering
spellingShingle TC Hydraulic engineering. Ocean engineering
Mohd Shahrieel , Mohd Aras
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
author Mohd Shahrieel , Mohd Aras
author_facet Mohd Shahrieel , Mohd Aras
author_sort Mohd Shahrieel , Mohd Aras
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
publishDate 2015
url http://eprints.utem.edu.my/id/eprint/15620/1/ADAPTIVE%20SIMPLIFIED%20FUZZY%20LOGIC%20CONTROLLER%20FOR%20DEPTH%20CONTROL%20OF%20UNDERWATER%20REMOTELY%20OPERATED%20VEHICLE%2024pages.pdf
http://eprints.utem.edu.my/id/eprint/15620/
http://library.utem.edu.my:8000/elmu/index.jsp?module=webopac-d&action=graphicFullDisplayRetriever.jsp&szMaterialNo=0000094501
_version_ 1729707879742570496
score 13.211869

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