Dynamic Leveling Control of a Wireless Self-Balancing ROV Using Fuzzy Logic Controller
- 1 Department of Mechatronic and Robotic Engineering, Faculty of Electrical and Electronic Engineering, Universiti Tun Hussein Onn Malaysia, Batu Pahat, Malaysia
- 2 Department of Mechatronic and Robotic Engineering, Faculty of Electrical and Electronic Engineering, Universiti Tun Hussein Onn Malaysia, Batu Pahat, Malaysia
- 3 Department of Communication Engineering, Faculty of Electrical and Electronic Engineering, Universiti Tun Hussein Onn Malaysia, Batu Pahat, Malaysia
Abstract
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 of water 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 and buoyance force 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 a wireless self-balancing buoyancy system of a mini ROV using fuzzy logic controller. A liquid level sensor has been implemented to provide feedback to the controller. A user-friendly graphical user interface (GUI) has 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, a proportional-derivative (PD) controller, and a proportional-integral-derivative (PID) controller.
- S. Tangirala and J. Dzielski, “A Variable Buoyancy Control System for a Large AUV,” IEEE Journal of Oceanic Engineering, Vol. 32, No. 4, 2007, pp. 762-771. doi:10.1109/JOE.2007.911596
- K. S. Wasserman, J. L. Mathieu, M. I. Wolf, A. Hathi, S. E. Fried and A. K. Baker, “Dynamic Buoyancy Control of an ROV using Variable Ballast Tank,” Proceedings of OCEANS 2003, California, 22-26 September 2003, pp. 2888-2893.
- K. Shibuya, Y. Kado, S. Honda, T. Iwamoto and K. Tsutsumim, “Underwater Robot with a Buoyancy Control System Based on the Spermaceti Oil Hypothesis,” Proceedings of the 2006 IEEE/RSJ Interational Conference on Intelligent Robots and Systems, Beijing, 9-15 October 2006, pp. 3012-3017.
- M. R. Clarke, “Buoyancy Control as a Function of the Spermaceti Organ in the Sperm Whale,” Journal of the Marine Biological Association of the United Kingdom, Vol. 58, No. 1, 1978, pp. 27-71. doi:10.1017/S0025315400024395
- W. Zhao, J. Xu and M. Zhang, “A Variable Buoyancy System for Long Cruising Range AUV,” 2010 International Conference on Computer, Mechatronics, Control and Electronic Engineering (CMCE), Harbin, 24-26 August 2010, pp. 585-588.
- M. Xu, “Adaptive Fuzzy Logic Depth Controller for Variable Buoyancy System of Autonomous Underwater Vehicles,” Proceedings of the 3rd IEEE Conference on Fuzzy Systems, Florida, 26-29 June 1994, pp. 1191-1196.
- M. A. Salim, A. Noordin and A. N. Jahari, “A Robust of Fuzzy Logic and Proportional Derivative Control System for Monitoring Underwater Vehicles,” 2nd International Conference on Computer Research and Development, Melaka, 7-10 May 2010, pp. 849-853. doi:10.1109/ICCRD.2010.187
- R. Nave, “Pressure,” 1998. http://hyperphysics.phy-astr.gsu.edu/hbase/pbuoy.html