Memorias de investigación
Research Publications in journals:
Nonlinear Attitude Control of a Spherical Underwater Vehicle
Year:2019

Research Areas
  • Electric engineers, electronic and automatic (eil)

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

Research Group, Departaments and Institutes related
  • 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