Virtual reality simulation of fuzzy-logic control during underwater dynamic positioning

Abstract

In this paper, graphical-user-interface (GUI) software for simulation and fuzzy-logic control of a remotely operated vehicle (ROV) using MATLAB™ GUI Designing Environment is proposed. The proposed ROV’s GUI platform allows the controller such as fuzzy-logic control systems design to be compared with other controllers such as proportional-integral-derivative (PID) and sliding-mode controller (SMC) systematically and interactively. External disturbance such as sea current can be added to improve the modelling in actual underwater environment. The simulated results showed the position responses of the fuzzy-logic control exhibit reasonable performance under the sea current disturbance.

Keywords

graphical-user-interface (GUI) / fuzzy-logic control / remotely operated vehicle (ROV) / proportional-integral-derivative (PID) / sliding-mode controller (SMC) / underwater dynamic positioning

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