Micro underwater vehicle hydrobatics: A submerged furuta pendulum

Publikationstyp
Conference Paper
Date Issued
2018-09-10
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: 7498-7503 (2018-09-10)
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
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.
DDC Class
620: Ingenieurwissenschaften