Micro underwater vehicle hydrobatics: a submerged furuta pendulum

Publikationstyp
Conference Paper
Date Issued
2018-09
Sprache
English
Author(s)
Dücker, Daniel-André
Hackbarth, Axel
Johannink, Tobias
Kreuzer, Edwin
Solowjow, Eugen
Institut
Mechanik und Meerestechnik M-13
TORE-URI
http://hdl.handle.net/11420/2264
Start Page
7498
End Page
7503
Citation
IEEE International Conference on Robotics and Automation, ICRA 2018
Contribution to Conference
IEEE International Conference on Robotics and Automation, ICRA 2018
Publisher DOI
10.1109/ICRA.2018.8461091
Scopus ID
2-s2.0-85063154653
Publisher
IEEE
ISBN of container
978-1-5386-3081-5
978-1-5386-3080-8
978-1-5386-3082-2
We present the new HippoCampus micro underwater vehicle, first introduced in [1]. It is designed for monitoring confined fluid volumes. These tightly constrained settings demand agile vehicle dynamics. Moreover, we adapt a robust attitude control scheme for aerial drones to the underwater domain. We demonstrate the performance of the controller with a challenging maneuver. A submerged Furuta pendulum is stabilized by HippoCampus after a swing-up. The experimental results reveal the robustness of the control method, as the system quickly recovers from strong physical disturbances, which are applied to the system.
DDC Class
620: Ingenieurwissenschaften