Pusat Pengajian Kejuruteraaan Elektrik dan Elektronik - Tesis

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Browsing Pusat Pengajian Kejuruteraaan Elektrik dan Elektronik - Tesis by Author "Ali, Ahmad Faris"

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    Semi-autonomous remotely operated vehicle using robust controller technique
    (2020-09-01)
    Ali, Ahmad Faris
    The ship hull structure is facing the corrosion due to seawater. The regular inspection of the hull is needed to ensure the ships are secure during operation. This research work is focusing on the ability of Remotely Operated Vehicle (ROV) to perform an underwater hull inspection. The control techniques are needed to extend the efficiency of inspection operation since the ROV prototype is underactuated which is moveable in three degrees of freedom (3 DOF). For a solution, a control technique is proposed that combine a fuzzy logic controller and a robust filter. Furthermore, to perform an underwater hull inspection, a cylinder-shaped ROV prototype is developed. This is to verify the capability of the prototype in performing hull inspection. The ROV prototype utilizes an electric thruster for manoeuvre in a surge, heave, and yaw direction. The number of thrusters in the design and development of ROV prototype is considered in this research due to the cost and maintenance. To compensate error in heave and yaw direction, the robust controller needs to suppress the hydrodynamic drag and external disturbance such as waves and currents. Simulation results show the proposed controller has similar performance to the Model Free High Order Sliding Mode Control (MFHOSMC) and Time Delay Control (TDC). The result of steady state error shows the proposed controller is 0.006 meters (m), whereas TDC is 0.0240 meters (m) and MFHOSMC is 0.008 meters (m). The proposed controller is effective for ROV prototype providing good performance compared to MFHOSMC controller and TDC controller.