Hardware Analysis of Gradient Descent Algorithm Single Input Fuzzy Logic (GDA-SIFLC) Controller Implementation to Vertical Trajectory of Underwater Remotely Operated Vehicle (ROV)

Underwater remotely operated vehicle (ROV) is important in doing underwater exploration and monitoring especially in oil and gas industries. To do any underwater task, ROV must be maintained at certain depth to ensure visibility and optimal manipulator reach. Simultaneous handling of holding depth position and handling manipulator make it tough for ROV pilot to accomplish needed task. Due to this, a vertical trajectory or depth controller was proposed to ease the ROV pilot in doing underwater tasks. The trajectory of ROV prototype was modelled using system identification (SI) technique and then a controller was designed and implemented practically. The control technique used was gradient descent algorithm single input fuzzy logic (GDA-SIFLC) controller. MATLAB software was used to model the trajectory, designed controller, implemented practically and analysis of the result. A step input signal was supplied to ROV vertical trajectory to model the ROV using SI. The best fit of 83.32% was obtained and successfully verified with actual plan. Errors were analyzed and GDA-SIFLC controller was implemented. The GDA-SIFLC controller has successfully eliminated the steady state error (SSE) produced by the actual plan.