Performance Analysis of PID and Fuzzy Logic Controller for Unmanned Underwater Vehicle for Depth Control

Authors

  • Mohd Shahrieel Mohd Aras Underwater Technology Research Group, Faculty of Electrical Engineering, Universiti Teknikal Malaysia Melaka, Malaysia.
  • Marizan Sulaiman Underwater Technology Research Group, Faculty of Electrical Engineering, Universiti Teknikal Malaysia Melaka, Malaysia.
  • Yeoh Eik Keong Underwater Technology Research Group, Faculty of Electrical Engineering, Universiti Teknikal Malaysia Melaka, Malaysia.
  • Mohammad ‘Afif Kasno Faculty of Technology Engineering, Universiti Teknikal Malaysia Melaka, Malaysia.
  • Anuar Mohamed Kassim Underwater Technology Research Group, Faculty of Electrical Engineering, Universiti Teknikal Malaysia Melaka, Malaysia.
  • Alias Khamis Underwater Technology Research Group, Faculty of Electrical Engineering, Universiti Teknikal Malaysia Melaka, Malaysia.

Keywords:

Autonomous Underwater Vehicle, Fuzzy Logic Controller, PID, Unmanned Underwater Vehicle,

Abstract

This paper presents study and discussion of tuning process for PID and Fuzzy Logic Controller for Unmanned Underwater Vehicle (UUV) system. Autonomous Underwater Vehicle (AUV) is considered as an UUV where it is commonly used for detecting and mapping submerged wrecks, rocks, and obstructions that is hazardous to navigation for commercial and recreational vessels. The controllers will be designed to control motor thrusters of the AUV. The paper generally discusses PID and FLC, and the focus stresses more on FLC. Differences between both tuning processes will be discussed in details in this paper by covering method of conducting tuning process. Through the process, performance of the system can be analyzed and studied. The output of the system can be tuned or adjusted to a desired and satisfactory level using both of the methods mentioned. For FLCs, tuning process will be a trial-and-error, by making changes to the mapping of membership functions and fuzzy inference rules whereby PID, tuning can be made to the parameter values of the system.

References

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Published

2017-10-15

How to Cite

Mohd Aras, M. S., Sulaiman, M., Keong, Y. E., Kasno, M. ‘Afif, Mohamed Kassim, A., & Khamis, A. (2017). Performance Analysis of PID and Fuzzy Logic Controller for Unmanned Underwater Vehicle for Depth Control. Journal of Telecommunication, Electronic and Computer Engineering (JTEC), 9(3-2), 59–63. Retrieved from https://jtec.utem.edu.my/jtec/article/view/2814

Issue

Vol. 9 No. 3-2: EMPOWERING SCIENCE, ENGINEERING AND TECHNOLOGY TOWARDS GLOBAL MANUFACTURING SUSTAINABILITY

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Articles

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