|Publisher DOI:||10.1109/ICRA.2018.8461091||Title:||Micro underwater vehicle hydrobatics: A submerged furuta pendulum||Language:||English||Authors:||Dücker, Daniel-André
|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 . 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.||URI:||http://hdl.handle.net/11420/2264||ISBN:||978-153863081-5||ISSN:||1050-4729||Institute:||Mechanik und Meerestechnik M-13||Type:||InProceedings (Aufsatz / Paper einer Konferenz etc.)|
|Appears in Collections:||Publications without fulltext|
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