Tom Slawik

Attitude Control of the Hydrobatic Intervention AUV Cuttlefish using Incremental Nonlinear Dynamic Inversion

In this paper, we present an attitude control scheme for an autonomous underwater vehicle (AUV), which is based on incremental nonlinear dynamic inversion (INDI). Conventional model-based controllers depend on an exact model of the controlled system, which is difficult to find, especially for marine…