Application of PD and Fuzzy Controllers for an UROV

This paper deals with a complete strategy of modeling and auto-depth control of an UROV. In fact, a PID and a fuzzy controllers are settled to control the position and the attitude of a ROV. The main idea of this work is to establish a smart controller to manage the UROV for following a chosen trajectory. Especially if the UROV is evolving in a hostile environment presenting underwater currents. The UROV has to rapidly respond while guaranteeing stability and precision fronting turbulences caused by underwater currents. This method leads to some rewards over conventional control technics such as PID controller. Matlab/Simulink environment is used for simulations which are based on a comparative study concerning PD and fuzzy controllers against underwater troubles. These disturbances are chosen with a degree of strength to test the robustness of the UROV. The simulation results are acceptable and have confirmed the efficiency of the suggested fuzzy method. Effectively, this controller presents minor errors compared to the PID controller and is better for disturbances rejection.