Performance analysis of Lambda Tuning Single Input Fuzzy Logic Controller for Remotely Operated Vehicle depth control

Abstract

Underwater Remotely Operated Vehicle (ROV) is important to substitute human in doing underwater task. In marine industries, ROV is used to do underwater surveillance or observation. Due uncertainty of underwater environment and dynamic of ROV itself, depth trajectory control of ROV is difficult. Lambda tuning single input fuzzy logic (SIFLC) controller was implemented to the ROV to control the depth trajectory of the ROV. Performance analysis of Lambda SIFLC had been conducted for open frame and close frame ROV. The close frame ROV model is first order system while the open frame ROV is second order system. The transient responds analysis had been made using MATLAB Simulink. The implementation of the Lambda SIFLC shows significant improvement in the transient responds of the system.