Abstract

A Remotely Operated Underwater Vehicle (ROV) is an unmanned, tethered robotic system used for underwater exploration, inspection, and operations, controlled remotely from the surface. Controlling a ROV presents difficulties due to its nonlinear dynamics and the influence of external disturbances, particularly underwater uncertainties and disruptions. This research develops fuzzy-based controllers, namely Supervisory Fuzzy PID, Hybrid Fuzzy PID, and Fuzzy PID controllers, to improve yaw dynamics control of a custom-built micro-ROV. Peak time, settling time, and overshoot are the performance criteria to compare the closed-loop response of the model. Then, those three fuzzy-based controllers are compared to other controller methods in terms of the three criteria. Results show that the GA-based Proportional Integral controller produces the fastest response in terms of peak time, the supervisory fuzzy PID controller is the fastest in term of settling time, and the hybrid fuzzy PID controller gives the lowest overshoot. There is no single controller that is best for all three response performance criteria.

About the Speaker

Mr. Wrastawa Ridwan received his Bachelor’s degree in Electrical Engineering from Sepuluh Nopember Institute of Technology, Indonesia, and Master’s degrees in Electrical Engineering from Bandung Institute of Technology, Indonesia. Currently, he is pursuing his Ph.D. Degree in Systems and Control Engineering in the Control and Instrumentation Engineering Department at King Fahd University of Petroleum and Minerals (KFUPM), Dhahran, Saudi Arabia, and holds a position as a Teaching Assistant in the same department. His research focus encompasses intelligent control systems, robotics, optimization algorithms, and human-robot shared control.