Hendi Purnata, Moh. Khairudin, Sarwo Pranoto, Nike Sartika, Arif Ainur Rafiq, Riyani Prima Dewi
This study aims to develop and evaluate a cascade PID control system on an ROV (Remotely Operated Vehicle) with 8 motors to improve stability and precision in position and rotation control in underwater environments. The ROV used is equipped with eight motors, where four main motors control rotation (roll, pitch, yaw), while four additional motors manage translational movements (forward/backward, left/right turn). This cascade PID control system utilizes PID for position and PD for rotation, is designed to cope with nonlinear dynamics and uncertainty of the underwater environment, and provides fast and stable response to external disturbances. Test results show that this control system successfully improves the stability and precision of the ROV in achieving the desired position and orientation, with the ability to reduce overshoot and oscillations that occur during transitions. This research also addresses the application of adaptive PID control that compensates for additional forces from mechanical connections and environmental uncertainties, as well as PID gain settings to improve system performance. With the application of cascade PID control, the ROV can perform linear and rotational movements of objects with high precision, making it very useful for underwater inspection applications that require stable and responsive control in dynamic and complex environments. © 2025 IEEE.
Universitas Negeri Yogyakarta, Yogyakarta, Indonesia; Universitas Negeri Yogyakarta, Department of Electrical Engineering, Yogyakarta, Indonesia; Uin Sunan Gunung Djati, Bandung, Indonesia; Cilacap State Polytechnic, Cilacap, Indonesia
