An improved fuzzy logic controller for depth control of the videoray pro III underwater vehicle

Othman , Siti Yasmin (2015) An improved fuzzy logic controller for depth control of the videoray pro III underwater vehicle. Project Report. UTeM, Melaka, Malaysia. (Submitted)

Text (24 Pages) An Improved Fuzzy Logic Controller For Depth Control Of The Videoray Pro III Underwater Vehicle.pdf - Submitted Version Download (570kB)

Abstract

Nowadays, human ability is limited in deep water or seabed. There some places in underwater that human unable to reach due to dangerous and high pressure. However, the underwater vehicle is created to overcome the problem. Underwater vehicle function to help scientist make an underwater research and commonly used in deep water industries. The main point is the ability of underwater vehicle able to be controlled. However, the conventional like PD also has a problem to control nonlinear operation. The PID controller also hardly to achieved zero overshoot. Thus fuzzy logic controller is introduced to overcome the problem. In this project, the objectives are to design and improved fuzzy logic controller (FLC) for depth control of underwater vehicle (based on VideoRay Pro III), to analyze performance of system response of depth control in terms of zero overshoot, faster rise time and small steady state error using FLC and to verify the system response of the depth control using hardware implementation between Matlab/Simulink and Microbox 2000/2000C. For the methodology, the pressure sensor MX5700ap, step down voltage, microbox 2000/2000C, air compressor, thruster and multimeter are used during an experiment. The experiment was setup to analyze performance of PID and FLC in terms of zero overshoot, faster rise time and small steady state error. The final experiment carried out to study the effect of membership function of real-time fuzzy logic controller using open loop simulation data. The result shows fuzzy logic controller display a best performance in term of faster rise time, zero overshoot and small steady state error than mathematical modelling PID and real time PID.

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