Fuzzy controller for underwater remotely operated vehicle which is moving in conditions of environment disturbance occurrence

Oceans fill two-third surface of the Earth and they are house for majority alive organisms of our planet. However human possibilities of cognition of this environment are very limited. To defeat these limitations lots of scientists dealing with exploration of depths, concentrates on unmanned, remote-controlled underwater vehicle. From seventieth years happened the development of unmanned underwater vehicles which currently administering all characteristic attribute of robot, and have the possibility of shifting and manipulation, ability of technical surroundings' observation, and sometimes are making independent decision in typical situations. For control of all devices of robot responds the system of steering which holds supervision beginning from the propulsion and finishing on switching the video cameras and lighting. In robot's control system the functions of regulator in feedback the most often is realized by operator which is the onlooking working object on monitor installed in deck console. Nowadays more often automatic system of control is used, therefore in this paper such system will be proposed. The main aim of paper is to introduce the results of research concentrated on controlling remotely operated underwater vehicle during movement in conditions of environment disturbance occurrence. Firstly the mathematical model of example ROV is briefly discussed. Next the environment disturbance and its taking into account in mathematical models is shortly described. Next the proposed control system which is using technology of fuzzy logic is presented. At the end the example results of research on stabilizing movements' parameters of ROV during environment disturbance occurrence, using ROV simulator were presented. The paper is finished by summary which include conclusions derive from results of research.