Sumantri, Bambang (2009) *State-Space Feedback Linearization for Depth Positioning of a Spherical URV.* Industrial Electronic Seminar.

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## Abstract

Variable ballast, a common mechanism in underwater vehichle, is utilized as vertical motion actuator of a spherical URV in order to control its depth positiong. Since the model of this system is nonlinear and controllable therefore state-space feedback linearization is utilized in this depth positioning. The idea of state-space feedback linearization is to algebraically transform all state variable of nonlinear systems dynamics into (fully or partly) linear ones, so that linear control techniques can be applied. This method can stabilize the equilibrium point of this system which is unstable in open loop system. From the control analysis and simulation results, it can be observed that the asymptotical stabilization is achieved by tracking the error. Hence, state-space feedback linearization can also be applied for tracking a trajectory of desired depth position. Keyword: variable ballast, spherical URV, feedback linearization

Item Type: | Article |
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Subjects: | Q Science > QA Mathematics > QA75 Electronic computers. Computer science Q Science > QA Mathematics > QA76 Computer software |

Divisions: | Faculty of Engineering, Science and Mathematics > School of Electronics and Computer Science |

Depositing User: | Diptia dipu Zandra |

Date Deposited: | 17 Mar 2011 08:03 |

Last Modified: | 15 Apr 2011 15:09 |

URI: | http://repo.pens.ac.id/id/eprint/178 |

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