International Journal of Electrical and Power Engineering
ISSN: Online 1993-6001ISSN: Print 1990-7958
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Abstract
Underwater ROV is an important in underwater industries as well as safety purpose. It can dive deeper than human and can replace human in hazard underwater environment. ROV depth control is difficult due to hydrodynamic of the ROV itself and underwater environment. Overshoot in the depth control may cause damage to the ROV and its investigation location. This paper presenting a new tuning approach of SIFLC with GDA and PSO implementation for ROV depth control. The ROV was modelled using system identification to simulate the depth system. PID controller was applied to the model as a basic controller. SIFLC was then implemented in three tuning approach which are heuristic, GDA and PSO. The output transient was simulated using MATLAB Simulink and the percent overshoot (OS), time rise (Tr) and settling time (Ts) of the systems without and with controllers were compared and analysed. The result shows that SIFLC GDA output has the best transient result at 0.1021% (OS), 0.7992s (Tr) and 0.9790s (Ts).
How to cite this article:
Mustefa Jibril. Remotely Operated Underwater Vehicle Depth Control with New Lambda (λ) Tuning
Approach of Single Input Fuzzy Logic using Gradient Descent Algorithm and Particle Swarm
Optimization.
DOI: https://doi.org/10.36478/ijepe.2021.43.51
URL: https://www.makhillpublications.co/view-article/1990-7958/ijepe.2021.43.51