Implementation of PID controller for hold altitude control in underwater remotely operated vehicle

At a certain level of the depth Water, speed and direction of flow water in the ocean can change irregularly. The level of different water level has great different water pressure. These factors are some of the parameters that can affect navigation and stabilization of underwater remotely operated vehicle (ROV) at while in the water. Underwater ROV are designed capable of maintaining the stabilization of the position (hold position) at the water depth of desired vertically in accordance with the parameters of the water pressure. In maintaining stabilization at the level of depth water of the z-axis vertically, underwater ROV should be able to disturbance that there. PID controller with Ziegler-Nichols tuning algorithm applied so that underwater ROV is able to overcome these problems and can maintain its position at the level depth specified. The results show that PID controller using Ziegler-Nichols tuning method gives a response better than classical PID, seen from the output responds of each control. The PID controller using Ziegler-Nichols tuning method 15% overshot, 0.5 second to achieve rise time and 5.4 second to achieve the settling time, this result is better than the classical PID control which reached 37% overshoot, 0.9 second to achieve rise time and 6.1 second to achieve settling time.