Model-Based Design (MBD) for Autonomous Underwater Vehicle
Mohd Shahrieel Mohd Aras1, Muhamad Khairi Aripin2, Mohd Bazli Bahar3, Tan Wei Chiang4, Ooh Man Chun5, Ho Gui Yan6, Lim Zhi Han7
1Mohd Shahrieel Mohd Aras, Department of Mechatronics, FKE, Universiti Teknikal Malaysia Melaka, Melaka, Malaysia.
2Muhamad Khairi Aripin, Department of Electrical, FKE, Universiti Teknikal Malaysia Melaka, Melaka, Malaysia.
3Mohd Bazli Bahar, Department of Mechatronics, FKE, Universiti Teknikal Malaysia Melaka, Melaka, Malaysia.
4Tan Wei Chiang, FKE, Universiti Teknikal Malaysia Melaka, Melaka, Malaysia.
5Ooh Man Chun, FKE, Universiti Teknikal Malaysia Melaka, Melaka, Malaysia.
6Ho Gui Yan, FKE, Universiti Teknikal Malaysia Melaka, Melaka, Malaysia.
7Lim Zhi Han, FKE, Universiti Teknikal Malaysia Melaka, Melaka, Malaysia.
Manuscript received on 11 December 2019 | Revised Manuscript received on 23 December 2019 | Manuscript Published on 31 December 2019 | PP: 743-746 | Volume-8 Issue-12S2 October 2019 | Retrieval Number: L112810812S219/2019©BEIESP | DOI: 10.35940/ijitee.L1128.10812S219
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© The Authors. Blue Eyes Intelligence Engineering and Sciences Publication (BEIESP). This is an open-access article under the CC-BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/)
Abstract: This project is to enhanced and upgraded a depth controller for Autonomous Underwater Vehicle (AUV) to submerge precisely at the certain depth. This poster demonstrated an AUV equipped with integrated sensor and depth controller based on the pressure sensing which able to continuously sending the depth data to controller. The depth Simulink Arduino algorithm is implemented on an Arduino Mega using Model-Based Design (MBD) with MATLAB and Simulink. MBD used to model, simulate and verify the Simulink control algorithm after obtained data through open-loop experiment test. Then, it deploys and tests the algorithm on the embedded AUV hardware. The focus was in controlling the AUV vertical trajectory as the AUV tried to remain stationary at the selected depth and consuming its rise time Tr , overshoot Os , and settling time Ts are minimized. The comparative study for the AUV depth-control by On-Off, Proportional Integral Derivative (PID) controller and Fuzzy Logic Controller (FLC) controllers. MBD has faster implementation with fewer coding error when deploy to AUV hardware.
Keywords: Autonomous Underwater Vehicle, Depth Control, Fuzzy Logic Control, Proportional Integral Derivative.
Scope of the Article: Low-power design