Ocean Systems Engineering

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A fuzzy controller based on incomplete differential ahead PID algorithm for a remotely operated vehicle

  • Cao, Junliang (State Key Laboratory of Ocean Engineering, Shanghai Jiao Tong University (SJTU)) ;
  • Yin, Hanjun (Offshore Oil Engineering Co, LTD.) ;
  • Liu, Chunhu (State Key Laboratory of Ocean Engineering, Shanghai Jiao Tong University (SJTU)) ;
  • Lian, Lian (State Key Laboratory of Ocean Engineering, Shanghai Jiao Tong University (SJTU))
  • Received : 2013.08.21
  • Accepted : 2013.09.28
  • Published : 2013.09.25
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Abstract

In many applications, Remotely Operated Vehicles (ROVs) are required to be capable of course keeping, depth keeping, and height keeping. The ROV must be able to resist time-variant external forces and moments or frequent manipulate changes in some specified circumstances, which require the control system meets high precision, fast response, and good robustness. This study introduces a Fuzzy-Incomplete Derivative Ahead-PID (FIDA-PID) control system for a 500-meter ROV with four degrees of freedom (DOFs) to achieve course, depth, and height keeping. In the FIDA-PID control system, a Fuzzy Gain Scheduling Controller (FGSC) is designed on the basis of the incomplete derivative ahead PID control system to make the controller suitable for various situations. The parameters in the fuzzy scheme are optimized via many cycles of trial-and-error in a 10-meter-deep water tank. Significant improvements have been observed through simulation and experimental results within 4-DOFs.

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References

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