Prototyping and Stabilizing of Under-Actuated Remotely Operated Vehicle (ROV) using Fuzzy PID Control Algorithm

Abstract

Under-water vehicle is unstable and non-linear. Structures in which the degree of freedom is greater than the number of actuators are very difficult to stabilize. In the case of the remotely operated vehicle (ROV) for underwater monitoring, position stabilization is a key issue. It has been seen that the design of the ROV structure with the ability to stabilize itself in terms of position and designing of a control algorithm for actuators that works along with the structure is not an easy task. In this paper, we present the modeling and control design of under-actuated unmanned underwater ROV to address the non-holonomic issues. The proposed ROV is energy-efficient, cost-effective, and has a fast response time, moreover, a novel hybrid Fuzzy-PID algorithm is developed to stabilize the dive control of under-actuated underwater tri-thruster ROV is also proposed and the simulation results confirm its authentication.