A Robust Control via a Fuzzy System with PID for the ROV
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 dev...
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-01-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/23/2/821 |
| _version_ | 1797437244204646400 |
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| author | Junjie Dong Xingguang Duan |
| author_facet | Junjie Dong Xingguang Duan |
| author_sort | Junjie Dong |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-03-09T11:17:20Z |
| format | Article |
| id | doaj.art-8fbef740281e4ee4a4d6c6cc60219b94 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-09T11:17:20Z |
| publishDate | 2023-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-8fbef740281e4ee4a4d6c6cc60219b942023-12-01T00:28:11ZengMDPI AGSensors1424-82202023-01-0123282110.3390/s23020821A Robust Control via a Fuzzy System with PID for the ROVJunjie Dong0Xingguang Duan1School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, ChinaSchool of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, ChinaUncertainty 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.https://www.mdpi.com/1424-8220/23/2/821type-1 fuzzy systeminterval type-2 fuzzy systemROV |
| spellingShingle | Junjie Dong Xingguang Duan A Robust Control via a Fuzzy System with PID for the ROV Sensors type-1 fuzzy system interval type-2 fuzzy system ROV |
| title | A Robust Control via a Fuzzy System with PID for the ROV |
| title_full | A Robust Control via a Fuzzy System with PID for the ROV |
| title_fullStr | A Robust Control via a Fuzzy System with PID for the ROV |
| title_full_unstemmed | A Robust Control via a Fuzzy System with PID for the ROV |
| title_short | A Robust Control via a Fuzzy System with PID for the ROV |
| title_sort | robust control via a fuzzy system with pid for the rov |
| topic | type-1 fuzzy system interval type-2 fuzzy system ROV |
| url | https://www.mdpi.com/1424-8220/23/2/821 |
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