Dynamic leveling control of a wireless self-balancing ROV using fuzzy logic controller
A remotely operated vehicle (ROV) is essentially an underwater mobile robot that is controlled and powered by an operator outside of the robot working environment. Like any other marine vehicle, ROV has to be designed to float in the water where its mass is supported by the buoyancy forces due to th...
| Main Authors: | , , |
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| Format: | Conference or Workshop Item |
| Published: |
2012
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| Subjects: | |
| Online Access: | http://eprints.uthm.edu.my/5866/ http://eprints.uthm.edu.my/5866/4/7_x.pdf |
| Summary: | A remotely operated vehicle (ROV) is essentially an underwater mobile robot
that is controlled and powered by an operator outside of the robot working
environment. Like any other marine vehicle, ROV has to be designed to float in
the water where its mass is supported by the buoyancy forces due to the
displacement ofwater by its hull. Vertically positioning a mini ROV in centimeters
resolution underwater and maintaining that state requires a distinctive technique
partly because of the pressure exerted by the water towards the hull and partly
because of the random waves produced by the water itself. That being said, the
aim of the project is to design and develop the fuzzy logic controller for a wireless
self-balancing buoyancy system of a mini ROV. A liquid level sensor had been
implemented to provide feedback to the controller. A user-friendly graphical
user interface (GU I) had been developed for real-time data monitoring as well as
controlling the vertical position of the ROV. At the end of the project, the
implemented fuzzy control system shows enhanced and better performance when
compared with one without a controller and a proportional-derivative (PD)
controller. |
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