{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T14:20:19Z","timestamp":1777472419168,"version":"3.51.4"},"reference-count":35,"publisher":"MDPI AG","issue":"6","license":[{"start":{"date-parts":[[2019,3,24]],"date-time":"2019-03-24T00:00:00Z","timestamp":1553385600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/100010676","name":"H2020 Societal Challenges","doi-asserted-by":"publisher","award":["690008"],"award-info":[{"award-number":["690008"]}],"id":[{"id":"10.13039\/100010676","id-type":"DOI","asserted-by":"publisher"}]},{"name":"RoboCity2030-III-CM","award":["S2013\/MIT-2748"],"award-info":[{"award-number":["S2013\/MIT-2748"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>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.<\/jats:p>","DOI":"10.3390\/s19061445","type":"journal-article","created":{"date-parts":[[2019,3,25]],"date-time":"2019-03-25T06:56:52Z","timestamp":1553497012000},"page":"1445","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":15,"title":["Nonlinear Attitude Control of a Spherical Underwater Vehicle"],"prefix":"10.3390","volume":"19","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-4102-5899","authenticated-orcid":false,"given":"Ramon A.","family":"Suarez Fernandez","sequence":"first","affiliation":[{"name":"Centre for Automation and Robotics, Universidad Politecnica de Madrid, 28006 Madrid, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6595-5420","authenticated-orcid":false,"given":"E. Andres","family":"Parra R.","sequence":"additional","affiliation":[{"name":"Centre for Automation and Robotics, Universidad Politecnica de Madrid, 28006 Madrid, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8701-5701","authenticated-orcid":false,"given":"Zorana","family":"Milosevic","sequence":"additional","affiliation":[{"name":"Centre for Automation and Robotics, Universidad Politecnica de Madrid, 28006 Madrid, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9498-5407","authenticated-orcid":false,"given":"Sergio","family":"Dominguez","sequence":"additional","affiliation":[{"name":"Centre for Automation and Robotics, Universidad Politecnica de Madrid, 28006 Madrid, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8740-2453","authenticated-orcid":false,"given":"Claudio","family":"Rossi","sequence":"additional","affiliation":[{"name":"Centre for Automation and Robotics, Universidad Politecnica de Madrid, 28006 Madrid, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2019,3,24]]},"reference":[{"key":"ref_1","unstructured":"UNEXMIN.eu (2018, March 01). 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