Stability Enhancement in Variable Morphing Multi-body AUVs for Underwater Structure Maintenance
Shuai Kang, Yuan He, Jin Zhang, Yuxi Gao, Yunfei Bai, Longchuan Li
Abstract
This paper presents a Variable Morphing Multi-Body AUVs (VMMAUVs) concept, designed for underwater structure maintenance. This robot is capable of dynamically adjusting their structure to adapt to varying operational scenarios. The study explores two key stability mechanisms: buoyancy adjustment and aperture angle control, both aimed at optimizing the metacentric height. Through simulations and experiments with different buoyancy configurations and aperture angles, the results show that the proposed methods significantly enhance the system ’ s stability, enabling faster convergence and better posture retention. The feasibility of the control strategies is validated through various numerical simulations, demonstrating the effectiveness of angle tracking control and buoyancy adjustment in maintaining stability under dynamic oceanic conditions.
BibTeX
@inproceedings{iros2025_stabilityenhance,
title = {Stability Enhancement in Variable Morphing Multi-body AUVs for Underwater Structure Maintenance},
author = {Shuai Kang and Yuan He and Jin Zhang and Yuxi Gao and Yunfei Bai and Longchuan Li},
booktitle = {IROS 2025},
year = {2025}
}