Micro underwater vehicle hydrobatics: A submerged furuta pendulum

Link:
Autor/in:
Verlag/Körperschaft:
Hamburg University of Technology
Erscheinungsjahr:
2018
Medientyp:
Text
Schlagwort:
  • 620: Ingenieurwissenschaften
Beschreibung:
  • 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.
Beziehungen:
DOI 10.1109/ICRA.2018.8461091
Quellsystem:
TUHH Open Research
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Quelldatensatz
oai:tore.tuhh.de:11420/2264