Micro underwater vehicle hydrobatics: A submerged furuta pendulum
IEEE International Conference on Robotics and Automation: 7498-7503 (2018-09-10)
Contribution to Conference
We present the new HippoCampus micro underwater vehicle, first introduced in . 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. © 2018 IEEE.