|
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 |
|
Ranking
|
|