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<p>Ship hull inspection is a critical but hazardous task traditionally performed by divers, which is inefficient and poses significant safety risks. This study aims to develop a safer and more precise alternative using a Remotely Operated Vehicle (ROV) designed specifically for hull inspection in turbulent underwater environments. An ROV system based on the Robot Operating System (ROS) was developed to achieve this. It incorporates two types of intelligent controllers: fuzzy Proportional-Integral-Derivative (PID) controllers for regulating depth and height, and a novel fuzzy Active Disturbance Rejection Controller (ADRC) for maintaining dynamic positioning in the horizontal plane under external disturbances. These controllers were iteratively tuned through pool experiments and validated through real-world on-site trials. Experimental results show that the fuzzy ADRC controller reduces horizontal position error by over 50% compared to conventional PD control, achieving mean absolute errors of 0.018 m (X-direction) and 0.046 m (Y-direction) under disturbance. On-site tests demonstrated stable hull tracking performance within 0.2 meters of the ship surface, meeting inspection requirements. In conclusion, the proposed fuzzy control system significantly improves dynamic positioning accuracy and disturbance rejection, offering a robust and efficient solution for underwater hull inspection and enhancing the safety and reliability of maritime operations.</p>

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Design and Development of a Remotely Operated Vehicle for Ship Hull Inspection Featuring Fuzzy Active Disturbance Rejection for Dynamic Positioning Control

  • 期刊论文

  • 发表日期：

    2025年9月17日

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  • Mingzhi Chen,
  • Yuan Liu,
  • Chao Wang,
  • Daqi Zhu

摘要

Ship hull inspection is a critical but hazardous task traditionally performed by divers, which is inefficient and poses significant safety risks. This study aims to develop a safer and more precise alternative using a Remotely Operated Vehicle (ROV) designed specifically for hull inspection in turbulent underwater environments. An ROV system based on the Robot Operating System (ROS) was developed to achieve this. It incorporates two types of intelligent controllers: fuzzy Proportional-Integral-Derivative (PID) controllers for regulating depth and height, and a novel fuzzy Active Disturbance Rejection Controller (ADRC) for maintaining dynamic positioning in the horizontal plane under external disturbances. These controllers were iteratively tuned through pool experiments and validated through real-world on-site trials. Experimental results show that the fuzzy ADRC controller reduces horizontal position error by over 50% compared to conventional PD control, achieving mean absolute errors of 0.018 m (X-direction) and 0.046 m (Y-direction) under disturbance. On-site tests demonstrated stable hull tracking performance within 0.2 meters of the ship surface, meeting inspection requirements. In conclusion, the proposed fuzzy control system significantly improves dynamic positioning accuracy and disturbance rejection, offering a robust and efficient solution for underwater hull inspection and enhancing the safety and reliability of maritime operations.