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