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All Journal Teknika Pendas : Jurnah Ilmiah Pendidikan Dasar INAJEEE (Indonesian Journal of Electrical and Electronics Engineering) Jurnal Teknik Elektro (JTE) Jurnal Penelitian Rumpun Ilmu Teknik Jurnal Elektronika dan Teknik Informatika Terapan Mars: Jurnal Teknik Mesin, Industri, Elektro dan Ilmu Komputer
Puput Wanarti Rusimamto
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Civil Engineering, Building, Construction & Architecture Computer Science & IT Control & Systems Engineering Education Electrical & Electronics Engineering Energy Engineering Other

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Design And Implementation of a Depth Stability Control System Using A Water Pressure Sensor on An Underwater Remotely Operated Vehicle (ROV) M. Afid Afandi; Puput Wanarti Rusimamto
INAJEEE (Indonesian Journal of Electrical and Electronics Engineering) Vol. 9 No. 1 (2026): Februari
Publisher : Department of Electrical Engineering, Faculty of Engineering, Universitas Negeri Surabaya

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.26740/inajeee.v9n1.p14-22

Abstract

This research aims to design and implement a depth control system for an Underwater ROV using the MS5837-30BA water pressure sensor, controlled by ESP8266 and STM32 microcontrollers. Data is transmitted in real time to a Ground Control Station (GCS), which also allows PID parameter configuration and joystick control. Initial testing of the sensor showed an average absolute error of 0.73 cm after adjustment. The PID control system was implemented using two approaches: MATLAB simulation and the trial-and-error method. The results show that the ROV depth control system can effectively maintain a setpoint of 50 cm below the water surface. The best performance was achieved using the trial-and-error method with PID parameters of Kp=31, Ki=0.5, and Kd=9. The system response demonstrated 0% overshoot, 0.02 cm steady-state error, 1.3 seconds rise time, and 1.6 seconds settling time. Keywords: Underwater ROV, MS5837-30BA, PID Controller, Depth Control, System Identification
Co-Authors ACHMAD BAYU PRADANA BONFILIO WAHYU TRI WINARTO CHINTIA PUTRI UNARYA Fendi Achmad FRIMA SETYAWAN NUR R HENDRAWAN WAHYONO Indrati Agustinah L. Endah Cahya Ningrum M. Afid Afandi M. Syariffudin Zuchri MOH. RIZAL ASHARI Muhammad Syafruddin Nur Nur Afifah NUR AFIKHAH NURMA ORFA DEWI R HERLAMBANG TRYAN WICAKSONO Raden Mohamad Herdian Bhakti Raden Roro Hapsari Peni Agustin Tjahyaningtijas RANGGA ARIF TRI SURYA Rifqi Firmansyah RIFQI NABILA ZUFAR Riko Amiruddin Rr. Hapsari Peni Agustin T. SAYYUDA FARADISA Sechvira Marzabella Sigit Mardiyanto Sonia Ayuni Widianingrum Subuh Isnur Haryudo Wilian Karera Putri Wisno Fitriansyah Zidan Shabira As Sidiq Zuliana Ria Dwi Susanti Zulkifli