Centre for Automation and Robotics, Universidad Politecnica de Madrid, 28006 Madrid, Spain.
Sensors (Basel). 2019 Mar 24;19(6):1445. doi: 10.3390/s19061445.
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.
在这项工作中，我们提出了基于原型球形水下航行器状态反馈线性化（FL）的姿态控制系统的设计、实现和测试。该航行器的特点是采用了一种用于运动和操纵的流形设计推进器配置，以及一种新颖的基于摆的被动俯仰控制机构。首先，介绍了球形船体的机械设计和板载电子设备设置。随后，针对一个 6 自由度（DOF）水下航行器推导出了系统的高保真动力学模型，随后进行了一些在受控环境中进行的实验，以比较所提出的控制方法与基准比例积分微分（PID）控制器的性能。实验结果表明，虽然两种控制器都能够执行指定的机动动作，但 FL 控制器在精度和时间响应方面优于 PID 控制器。
