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Dynamic leveling control of a wireless self-balancing ROV using fuzzy logic controller

Ayob, Mohammad Afif and Hanafi, Dirman and Johari, Ayob (2012) Dynamic leveling control of a wireless self-balancing ROV using fuzzy logic controller. In: 5th International Conference on Postgraduate Education (ICPE-5 2012), Universiti Teknologi Malaysia, Skudai, 18-19 December 2012.


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A remotely operated vehicle (ROV) is essentially an underwater mobile robot that is controlled and powered by an operator outside of the robot working environment. Like any other marine vehicle, ROV has to be designed to float in the water where its mass is supported by the buoyancy forces due to the displacement ofwater by its hull. Vertically positioning a mini ROV in centimeters resolution underwater and maintaining that state requires a distinctive technique partly because of the pressure exerted by the water towards the hull and partly because of the random waves produced by the water itself. That being said, the aim of the project is to design and develop the fuzzy logic controller for a wireless self-balancing buoyancy system of a mini ROV. A liquid level sensor had been implemented to provide feedback to the controller. A user-friendly graphical user interface (GU I) had been developed for real-time data monitoring as well as controlling the vertical position of the ROV. At the end of the project, the implemented fuzzy control system shows enhanced and better performance when compared with one without a controller and a proportional-derivative (PD) controller.

Item Type: Conference or Workshop Item (Paper)
Subjects: T Technology > TC Hydraulic engineering. Ocean engineering
Divisions: Faculty of Electrical and Electronic Engineering > Department of Robotic and Mechatronic Engineering
Depositing User: Normajihan Abd. Rahman
Date Deposited: 04 Nov 2014 07:15
Last Modified: 04 Nov 2014 07:15
URI: http://eprints.uthm.edu.my/id/eprint/5866
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