English   español  
Please use this identifier to cite or link to this item: http://hdl.handle.net/10261/217936
logo share SHARE logo core CORE   Add this article to your Mendeley library MendeleyBASE

Visualizar otros formatos: MARC | Dublin Core | RDF | ORE | MODS | METS | DIDL | DATACITE
Exportar a otros formatos:


Nonlinear Attitude Control of a Spherical Underwater Vehicle

AuthorsSuarez Fernandez, Ramon A.; Parra R., E. Andrés; Milosevic, Zorana; Domínguez, Sergio; Rossi, Claudio
KeywordsUnderwater robots
Spherical robots
Feedback linearization
Mine exploration
Issue Date24-Mar-2019
PublisherMolecular Diversity Preservation International
CitationSensors 19 (6): 1445 (2019)
AbstractIn 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.
Publisher version (URL)http://dx.doi.org/10.3390/s19061445
Appears in Collections:(CAR) Artículos
Files in This Item:
File Description SizeFormat 
Nonlinear_Attitude_Control.pdfArtículo principal27,93 MBAdobe PDFThumbnail
Show full item record
Review this work

WARNING: Items in Digital.CSIC are protected by copyright, with all rights reserved, unless otherwise indicated.