Descripción
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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. | |
Internacional
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Si |
JCR del ISI
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Si |
Título de la revista
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Sensors |
ISSN
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1424-8220 |
Factor de impacto JCR
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2,475 |
Información de impacto
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Datos JCR del año 2017 |
Volumen
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19 |
DOI
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10.3390/s19061445 |
Número de revista
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6 |
Desde la página
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0 |
Hasta la página
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20 |
Mes
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MARZO |
Ranking
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