Nonlinear Attitude Control of a Spherical Underwater Vehicle
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...
| Main Authors: | , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2019-03-01
|
| Series: | Sensors |
| Subjects: | |
| Online Access: | https://www.mdpi.com/1424-8220/19/6/1445 |