STUDY ON THE EFFECT OF SHIFTING 'ZERO' IN OUTPUT MEMBERSHIP FUNCTION ON FUZZY LOGIC CONTROLLER OF THE ROV USING MICRO-BOX INTERFACING

Authors

  • Mohd Shahrieel Mohd Aras Underwater Technology Research Group (UTeRG), Faculty of Electrical Engineering, Universiti Teknikal Malaysia Melaka, Hang Tuah Jaya, 76100 Durian Tunggal, Melaka, Malaysia
  • Fadilah Abdul Azis Underwater Technology Research Group (UTeRG), Faculty of Electrical Engineering, Universiti Teknikal Malaysia Melaka, Hang Tuah Jaya, 76100 Durian Tunggal, Melaka, Malaysia
  • Shahrum Shah Abdullah Department of Electric and Electronics, Malaysia-Japan International Institute of Technology, Universiti Teknologi Malaysia, International Campus Jalan Semarak, 54100 Kuala Lumpur, Malaysia
  • Lee Dai Cong Underwater Technology Research Group (UTeRG), Faculty of Electrical Engineering, Universiti Teknikal Malaysia Melaka, Hang Tuah Jaya, 76100 Durian Tunggal, Melaka, Malaysia
  • Lim Wee Teck Underwater Technology Research Group (UTeRG), Faculty of Electrical Engineering, Universiti Teknikal Malaysia Melaka, Hang Tuah Jaya, 76100 Durian Tunggal, Melaka, Malaysia
  • Fara Ashikin Ali Department of Mechanical, Faculty of Technology Engineering, Universiti Teknikal Malaysia Melaka, Hang Tuah Jaya, 76100 Durian Tunggal, Melaka, Malaysia
  • Muhammad Nur Othman Department of Mechanical, Faculty of Technology Engineering, Universiti Teknikal Malaysia Melaka, Hang Tuah Jaya, 76100 Durian Tunggal, Melaka, Malaysia

DOI:

https://doi.org/10.11113/jt.v74.4815

Keywords:

Depth control, underwater remotely operated vehicle, fuzzy logic controller, microbox 2000/2000C, thruster system

Abstract

This paper investigates the study on the effect of shifting ‘zero’ membership function on Fuzzy Logic Controller (FLC) design of underwater Remotely Operated Vehicle (ROV) for depth control using Micro-box 2000/2000C interfacing based on thruster system. The issues occurred with a ROV design is where the thruster system can easily drain up current from the supply (e.g. battery source or power bank) and this will limit time to using the ROV. FLC do not have a rigid approach to tune it and may cause the process of tuning will be highly time costing. Therefore, a simple method by a study on the effect of shifting zero membership function will act as a one technique to tune the FLC for future references. The ROV Trainer will be developed to test the proposed control method using Micro-box 2000/2000C. The ROV Trainer consists of aluminum box, thrusters, drivers, interface connector, and etc and interfacing with Micro-box act as microcontroller. Fuzzy logic toolbox in MATLAB will be used to study the shifting zero membership function so that the effect of the adjustment can be investigated. The result of this project shows that, by shifting zero membership function of the fuzzy logic controller, the performance of the fuzzy logic controller is normally improved.

References

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Published

2015-06-21

Issue

Vol. 74 No. 9: Underwater System Technology: Theory and Applications

Section

Science and Engineering

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Copyright of articles that appear in Jurnal Teknologi belongs exclusively to Penerbit Universiti Teknologi Malaysia (Penerbit UTM Press). This copyright covers the rights to reproduce the article, including reprints, electronic reproductions, or any other reproductions of similar nature.

How to Cite

STUDY ON THE EFFECT OF SHIFTING ’ZERO’ IN OUTPUT MEMBERSHIP FUNCTION ON FUZZY LOGIC CONTROLLER OF THE ROV USING MICRO-BOX INTERFACING. (2015). Jurnal Teknologi, 74(9). https://doi.org/10.11113/jt.v74.4815