EROV: Depth and Balance Control for ROV Motion using Fuzzy PID Method

Abstract

Remotely operated vehicle (ROV) plays an important role in the exploration of underwater objects for observation of marine life, oil and gas exploration and rescue. In underwater diving, a variety of factors can influence the movements carried out by ROV such as water flow, water waves, water pressure, etc. Control of balance and depth in the ROV are important factor in carrying out various missions ROV found it in the form of water flow and water waves. PID controller is still ineffective due to the nonlinear nature of the ROV and therefore this paper proposes to add a Fuzzy logic controller to deal with the nonlinearity in the ROV. With a combination of PID and Fuzzy controller, the ROV is able to balance while making the diving and maneuvering moves despite receiving interference in the water. Using the proposed controller, the ROV is able to respond well with respect to disturbances in attitudes and depth motion control scenarios.