Nonlinear Attitude Control of a Spherical Underwater Vehicle
Abstract
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...
Paper Details
Title
Nonlinear Attitude Control of a Spherical Underwater Vehicle
Published Date
Mar 24, 2019
Journal
Volume
19
Issue
6
Pages
1445 - 1445
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