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Abstract
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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. | |
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International
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Si |
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JCR
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Si |
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Title
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Sensors |
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ISBN
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1424-8220 |
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Impact factor JCR
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2,475 |
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Impact info
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Datos JCR del año 2017 |
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Volume
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19 |
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10.3390/s19061445 |
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Journal number
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6 |
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From page
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0 |
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To page
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20 |
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Month
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MARZO |
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Ranking
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