Proceedings of the Sriwijaya International Conference on Information Technology and Its Applications (SICONIAN 2019)

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Design Depth and Balanced Control System of an Autonomous Underwater Vehicle with Fuzzy logic

Authors
Ahmad ZARKASI, Endang Darmawan YUDI, Muhammad Al RAVI, Ilham Junias ANGKOTASAN
Corresponding Author
Ahmad ZARKASI
Available Online 6 May 2020.
DOI
10.2991/aisr.k.200424.031How to use a DOI?
Keywords
Autonomous Underwater Robot, fuzzy logic controller, PWM
Abstract

Underwater vehicles are the vehicle that can be moved and controlled in water by remotely. Autonomous Underw ater Vehicle (AUV) is one type of underwater robot that is being developed lately. Unlike Remotely Operated Vehicle (ROV) which can be controlled manually using the remote. AUV can move automatically without being controlled directly by the user as long as the conditions of the robot program are met. With the movement and disturbance that is difficult to predict can make the stability of the robot one is very vulnerable, so it takes a condition that can stabilize the movement both at any depth. In practice, the on / off control system is still not able to balance the AUV properly if the robot is disturbed by water movement. Therefore, the purpose of this paper, we want to design a system using fuzzy logic with Takagi Sugeno method to stabilize its movement in the roll position and adjust the height of the robot from the bottom of the water. This study uses the IMU MPU6050 sensor hardware and sonar sensor as input, Arduino as a microcontroller and 2 brushed DC motors as actuators.

Copyright
© 2020, the Authors. Published by Atlantis Press.
Open Access
This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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Volume Title
Proceedings of the Sriwijaya International Conference on Information Technology and Its Applications (SICONIAN 2019)
Series
Advances in Intelligent Systems Research
Publication Date
6 May 2020
ISBN
978-94-6252-963-2
ISSN
1951-6851
DOI
10.2991/aisr.k.200424.031How to use a DOI?
Copyright
© 2020, the Authors. Published by Atlantis Press.
Open Access
This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

Cite this article

risenwbib
TY  - CONF
AU  - Ahmad ZARKASI
AU  - Endang Darmawan YUDI
AU  - Muhammad Al RAVI
AU  - Ilham Junias ANGKOTASAN
PY  - 2020
DA  - 2020/05/06
TI  - Design Depth and Balanced Control System of an Autonomous Underwater Vehicle with Fuzzy logic
BT  - Proceedings of the Sriwijaya International Conference on Information Technology and Its Applications (SICONIAN 2019)
PB  - Atlantis Press
SP  - 211
EP  - 217
SN  - 1951-6851
UR  - https://doi.org/10.2991/aisr.k.200424.031
DO  - 10.2991/aisr.k.200424.031
ID  - ZARKASI2020
ER  -