Observatorio de I+D+i UPM

Descripción
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	Si
JCR del ISI	Si
Título de la revista	Sensors
ISSN	1424-8220
Factor de impacto JCR	2,475
Información de impacto	Datos JCR del año 2017
Volumen	19
DOI	10.3390/s19061445
Número de revista	6
Desde la página	0
Hasta la página	20
Mes	MARZO
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Esta actividad pertenece a memorias de investigación

• Autor: Ramon Antonio Suarez Fernandez (UPM)
• Autor: Edgar Andres Parra Ricaurte (UPM)
• Autor: Zorana Milosevich . (UPM)
• Autor: Sergio Dominguez Cabrerizo (UPM)
• Autor: Claudio Rossi (UPM)

• Creador: Grupo de Investigación: Visión por Computador y Robótica Aérea
• Grupo de Investigación: Robótica y Cibernética
• Centro o Instituto I+D+i: Centro de Automática y Robótica (CAR). Centro Mixto UPM-CSIC
• Departamento: Automática, Ingeniería Eléctrica y Electrónica e Informática Industrial