| Autor: |
Fernandez RAS; Centre for Automation and Robotics, Universidad Politecnica de Madrid, 28006 Madrid, Spain. fernandez.suarez.ramon@gmail.com., R EAP; Centre for Automation and Robotics, Universidad Politecnica de Madrid, 28006 Madrid, Spain. ea.parra01@gmail.com., Milosevic Z; Centre for Automation and Robotics, Universidad Politecnica de Madrid, 28006 Madrid, Spain. zorana.milosevic@upm.es., Dominguez S; Centre for Automation and Robotics, Universidad Politecnica de Madrid, 28006 Madrid, Spain. sergio.dominguez@upm.es., Rossi C; Centre for Automation and Robotics, Universidad Politecnica de Madrid, 28006 Madrid, Spain. claudio.rossi@upm.es. |
| Jazyk: |
angličtina |
| Zdroj: |
Sensors (Basel, Switzerland) [Sensors (Basel)] 2019 Mar 24; Vol. 19 (6). Date of Electronic Publication: 2019 Mar 24. |
| DOI: |
10.3390/s19061445 |
| Abstrakt: |
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. |
| Databáze: |
MEDLINE |
| Externí odkaz: |
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