Hendi Purnata, Hera Susanti, Dwi Sahidin, Galih Mustiko Aji, Nanda Pranandita

Adaptive PID–PD Hybrid Control for Precise Motion of ROVs in Dynamic Environments

Introduction

Adaptive pid–pd hybrid control for precise motion of rovs in dynamic environments. Enhance ROV motion control in dynamic sea conditions using an Adaptive PID-PD Hybrid Control system. Improves stability, precision, and operational effectiveness for challenging marine tasks.

Abstract

This study aims to develop and evaluate an Adaptive PID–PD Hybrid Control System to enhance the position and rotation control of a Remotely Operated Vehicle (ROV) in challenging sea conditions. In this study, two main stages were conducted. First, a dynamic model of the ROV was developed, encompassing translation for movement in three-dimensional space (x, y, z) and rotation for changes in orientation (roll, pitch, yaw). Second, the adaptive PID–PD hybrid controllers were implemented and evaluated on the ROV model to ensure stability and precision in motion control. Simulation results demonstrate that the proposed controller effectively maintains position with surge overshoot of 23.3%, sway of 1.67%, and heave of 47.17%. The settling time ranges from 41.53 to 107 seconds, indicating areas for further tuning. In terms of velocity response, surge velocity shows a high overshoot of 106.26%, while sway and heave velocities present smaller overshoots but require longer stabilization times. The integration of PID and PD in a hybrid adaptive framework yields improved inner-loop response and overall robustness. These findings highlight the potential of the adaptive hybrid controller to enhance stability, responsiveness, and operational effectiveness of ROVs in dynamic marine conditions.

Review

This study presents an investigation into an Adaptive PID–PD Hybrid Control System designed to improve the precision of Remotely Operated Vehicles (ROVs) in challenging marine environments. The authors detail a two-stage methodological approach, beginning with the development of a comprehensive dynamic model of an ROV, encompassing both translational (x, y, z) and rotational (roll, pitch, yaw) degrees of freedom. This foundational model serves as the platform for the subsequent implementation and evaluation of the adaptive PID–PD hybrid controllers, with the primary objective of ensuring enhanced stability and precision in motion control under dynamic conditions. The simulation results offer valuable insights into the performance of the proposed controller. While the hybrid adaptive framework is noted for yielding improved inner-loop response and overall robustness, the specific performance metrics present a nuanced picture. Position control shows commendable low overshoot in sway (1.67%) but significantly higher overshoots in surge (23.3%) and heave (47.17%). The reported settling times, ranging from 41.53 to 107 seconds, clearly indicate a broad spectrum of responsiveness and suggest that substantial tuning opportunities remain to optimize transient behaviors. Furthermore, the surge velocity response exhibits a notably high overshoot of 106.26%, while sway and heave velocities, despite smaller overshoots, still require extended stabilization periods. Overall, the paper demonstrates the potential of integrating PID and PD control within an adaptive hybrid framework to enhance ROV stability and responsiveness in dynamic settings. The findings highlight a promising direction for improving operational effectiveness, particularly in terms of overall robustness. However, to fully realize this potential, future work should focus on rigorous tuning strategies to mitigate the observed high overshoots, especially in surge and heave, and to achieve more consistent and faster settling times across all degrees of freedom. Addressing these areas will be crucial for the practical deployment of such advanced control systems in real-world ROV applications.

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