Publisher DOI: 10.1109/ICRA.2018.8461091
Title: Micro underwater vehicle hydrobatics: A submerged furuta pendulum
Language: English
Authors: Dücker, Daniel-André 
Hackbarth, Axel 
Johannink, Tobias 
Kreuzer, Edwin 
Solowjow, Eugen 
Issue Date: 10-Sep-2018
Source: Proceedings - IEEE International Conference on Robotics and Automation: 7498-7503 (2018-09-10)
Journal or Series Name: Proceedings - IEEE International Conference on Robotics and Automation 
Abstract (english): 
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. © 2018 IEEE.
ISBN: 978-153863081-5
ISSN: 1050-4729
Institute: Mechanik und Meerestechnik M-13 
Document Type: Chapter/Article (Proceedings)
Project: Zustandsschätzung von Strömungsfeldern und Quellfindung mittels dynamisch positionierter Unterwasser-Sensorknoten. 
Dezentrale kooperative Exploration von nichtstatinären räumlich und zeitlich verteilten Feldern mit autonomen Unterwasserfahrzeugen 
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