2019
A Dual-Bladder Buoyancy Engine for a Cephalopod-Inspired AUV
ICRA 2019poster
This paper presents a nonlinear, backstepping depth and pitch controller for a dual-bladder buoyancy engine actuated by gear pumps. Flow-rate feedback is obtained using a custom flow sensor comprised of a differential pressure sensor and a small, 3D-printed attachment. The controller is simulated us…