Micro Underwater Vehicle Hydrobatics: A Submerged Furuta Pendulum @ICRA-cg8kk

Uploaded May 2018 | Updated September 2026, 2 weeks ago

ICRA 2018 Spotlight Video
Interactive Session Thu PM Pod P.5
Authors: Duecker, Daniel Andre; Hackbarth, P. Axel; Johannink, Tobias; Kreuzer, Edwin; Solowjow, Eugen
Title: Micro Underwater Vehicle Hydrobatics: A Submerged Furuta Pendulum

Abstract:
We present the new HippoCampus micro underwater vehicle. 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.

Micro Underwater Vehicle Hydrobatics: A Submerged Furuta Pendulum

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