Volume 8 Issue 3 ( September 2021 )

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. The result shows ROV depth can be controlled more precisely using SIFLC with 1.5 %OS, 11.5s Ts and 7.06s Tr.

Keywords: Remotely operated vehicle; depth control; PID controller; FLC controller and SIFLC controller