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Title

Nonlinear Attitude Control of a Spherical Underwater Vehicle

AuthorsSuarez Fernandez, Ramon A.; Parra R., E. Andrés; Milosevic, Zorana; Domínguez, Sergio; Rossi, Claudio
KeywordsUnderwater robots
AUV
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
URIhttps://www.ncbi.nlm.nih.gov/pmc/articles/PMC6471748/pdf/sensors-19-01445.pdf
http://hdl.handle.net/10261/217936
DOIhttp://dx.doi.org/10.3390/s19061445
ISSN1424-8220
Appears in Collections:(CAR) Artículos
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