ICRA 2018poster25 citations
Micro Underwater Vehicle Hydrobatics: A Submerged Furuta Pendulum
Daniel A Duecker, Axel Hackbarth, Tobias Johannink, Edwin Kreuzer, Eugen Solowjow
Abstract
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.
BibTeX
@inproceedings{icra2018_microunderwaterv,
title = {Micro Underwater Vehicle Hydrobatics: A Submerged Furuta Pendulum},
author = {Daniel A Duecker and Axel Hackbarth and Tobias Johannink and Edwin Kreuzer and Eugen Solowjow},
booktitle = {ICRA 2018},
year = {2018}
}