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Título: | Nonlinear Attitude Control of a Spherical Underwater Vehicle |
Autor: | Suarez Fernandez, Ramon A.; Parra R., E. Andrés; Milosevic, Zorana; Domínguez, Sergio; Rossi, Claudio CSIC ORCID | Palabras clave: | Underwater robots AUV Spherical robots Feedback linearization Mine exploration |
Fecha de publicación: | 24-mar-2019 | Editor: | Molecular Diversity Preservation International | Citación: | Sensors 19 (6): 1445 (2019) | Resumen: | In this work, we present the design, implementation, and testing of an attitude control system based on State Feedback Linearization (FL) of a prototype spherical underwater vehicle. The vehicle is characterized by a manifold design thruster configuration for both locomotion and maneuvering, as well as on a novel pendulum-based passive pitch control mechanism. First, the mechanical design and onboard electronics set up of the spherically shaped hull are introduced. Afterward, a high-fidelity dynamic model of the system is derived for a 6 degree-of-freedom (DOF) underwater vehicle, followed by several experiments that have been performed in a controlled environment to compare the performance of the proposed control method to that of a baseline Proportional-Integral-Derivative (PID) controller. Experimental results demonstrate that while both controllers were able to perform the specified maneuvers, the FL controller outperforms the PID in terms of precision and time response. | Versión del editor: | http://dx.doi.org/10.3390/s19061445 | URI: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6471748/pdf/sensors-19-01445.pdf http://hdl.handle.net/10261/217936 |
DOI: | 10.3390/s19061445 | ISSN: | 1424-8220 |
Aparece en las colecciones: | (CAR) Artículos |
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Nonlinear_Attitude_Control.pdf | Artículo principal | 27,93 MB | Adobe PDF | Visualizar/Abrir |
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