Graphical abstract Abstract This paper investigates the study on the effect of shifting 'zero' membership function on Fuzzy Logic Controller (FLC) design of underwater Remotely Operated Vehicle (ROV) for depth control using Micro-box 2000/2000C interfacing based on thruster system. The issues occurred with a ROV design is where the thruster system can easily drain up current from the supply (e.g. battery source or power bank) and this will limit time to using the ROV. FLC do not have a rigid

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... roach to tune it and may cause the process of tuning will be highly time costing. Therefore, a simple method by a study on the effect of shifting zero membership function will act as a one technique to tune the FLC for future references. The ROV Trainer will be developed to test the proposed control method using Micro-box 2000/2000C. The ROV Trainer consists of aluminum box, thrusters, drivers, interface connector, and etc and interfacing with Micro-box act as microcontroller. Fuzzy logic toolbox in MATLAB will be used to study the shifting zero membership function so that the effect of the adjustment can be investigated. The result of this project shows that, by shifting zero membership function of the fuzzy logic controller, the performance of the fuzzy logic controller is normally improved. Abstrak Kertas kerja ini mengkaji ke atas kesan peralihan fungsi keahlian 'sifar' pada Pengawal Logik Kabur (FLC) bagi Kenderaan Kawalan Jauh dalam air (ROV) untuk mengawal kedalaman menggunakan perantaraan Microbox 2000 / 2000C berdasarkan sistem tujahan. Isu yang timbul bagi mereka bentuk ROV adalah di mana sistem tujahan yang boleh bekerja sehingga sekarang daripada pembekalan (contohnya dari sumber bateri atau bank kuasa) dan ini akan menghadkan masa untuk menggunakan ROV. FLC tidak