Comparison of depth control form surface and bottom set point of an unmanned underwater remotely operated vehicle using PID controller

This paper investigates the depth control of an unmanned underwater remotely operated vehicle (rov) based on ballast tank system using conventional pid controller. the pid controller is applied to control the depth of the rov from two different reference points,from the surface and from the seafloor. the concept of ballast tank system selected is piston tank type. two different sensors are selected,which is pressure sensor for measurement from the surface,and sonar sensor for measurement from the bottom. control method from both references point are investigated and compared to find out which feedback reference points are more appropriate in different conditions. the implementation phase will be verified through matlab simulink platform. the verified algorithms will then be tested on the actual prototype rov. and also the prospect of automated the vertical movement of a rov. © 2015 penerbit utm press. all rights reserved.