A Robust Control via a Fuzzy System with PID for the ROV

Junjie Dong; Xingguang Duan

doi:10.3390/s23020821

A Robust Control via a Fuzzy System with PID for the ROV

Sensors (Basel). 2023 Jan 10;23(2):821. doi: 10.3390/s23020821.

Authors

Junjie Dong¹, Xingguang Duan¹

Affiliation

¹ School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China.

Abstract

Uncertainty and nonlinearity in the depth control of remotely operated vehicles (ROVs) have been widely studied, especially in complex underwater environments. To improve the motion performance of ROVs and enhance their robustness, the model of ROV depth control in complex water environments was developed. The developed control scheme of interval type-2 fuzzy proportional-integral-derivative control (IT2FPID) is based on proportional-integral-derivative control (PID) and interval type-2 fuzzy logic control (IT2FLC). The performance indicators were used to evaluate the immunity of the controller type to external disturbances. The overshoot of 0.3% and settling time of 7.5 s of IT2FPID seem to be more robust compared to those of type-1 fuzzy proportional-integral-derivative (T1FPID) and PID.

Keywords: ROV; interval type-2 fuzzy system; type-1 fuzzy system.

MeSH terms

Algorithms*
Computer Simulation
Fuzzy Logic*

Grants and funding

2019YFB1310503/National Key R&D Program of China