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...
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2019-03-01
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doaj-e5a721dc02144a1eb46085cbbea679382020-11-25T00:45:03ZengMDPI AGSensors1424-82202019-03-01196144510.3390/s19061445s19061445Nonlinear Attitude Control of a Spherical Underwater VehicleRamon A. Suarez Fernandez0E. Andres Parra R.1Zorana Milosevic2Sergio Dominguez3Claudio Rossi4Centre for Automation and Robotics, Universidad Politecnica de Madrid, 28006 Madrid, SpainCentre for Automation and Robotics, Universidad Politecnica de Madrid, 28006 Madrid, SpainCentre for Automation and Robotics, Universidad Politecnica de Madrid, 28006 Madrid, SpainCentre for Automation and Robotics, Universidad Politecnica de Madrid, 28006 Madrid, SpainCentre for Automation and Robotics, Universidad Politecnica de Madrid, 28006 Madrid, SpainIn 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.https://www.mdpi.com/1424-8220/19/6/1445underwater robotsAUVspherical robotsfeedback linearizationmine exploration |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Ramon A. Suarez Fernandez E. Andres Parra R. Zorana Milosevic Sergio Dominguez Claudio Rossi |
spellingShingle |
Ramon A. Suarez Fernandez E. Andres Parra R. Zorana Milosevic Sergio Dominguez Claudio Rossi Nonlinear Attitude Control of a Spherical Underwater Vehicle Sensors underwater robots AUV spherical robots feedback linearization mine exploration |
author_facet |
Ramon A. Suarez Fernandez E. Andres Parra R. Zorana Milosevic Sergio Dominguez Claudio Rossi |
author_sort |
Ramon A. Suarez Fernandez |
title |
Nonlinear Attitude Control of a Spherical Underwater Vehicle |
title_short |
Nonlinear Attitude Control of a Spherical Underwater Vehicle |
title_full |
Nonlinear Attitude Control of a Spherical Underwater Vehicle |
title_fullStr |
Nonlinear Attitude Control of a Spherical Underwater Vehicle |
title_full_unstemmed |
Nonlinear Attitude Control of a Spherical Underwater Vehicle |
title_sort |
nonlinear attitude control of a spherical underwater vehicle |
publisher |
MDPI AG |
series |
Sensors |
issn |
1424-8220 |
publishDate |
2019-03-01 |
description |
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. |
topic |
underwater robots AUV spherical robots feedback linearization mine exploration |
url |
https://www.mdpi.com/1424-8220/19/6/1445 |
work_keys_str_mv |
AT ramonasuarezfernandez nonlinearattitudecontrolofasphericalunderwatervehicle AT eandresparrar nonlinearattitudecontrolofasphericalunderwatervehicle AT zoranamilosevic nonlinearattitudecontrolofasphericalunderwatervehicle AT sergiodominguez nonlinearattitudecontrolofasphericalunderwatervehicle AT claudiorossi nonlinearattitudecontrolofasphericalunderwatervehicle |
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