Sparus AUV Modelling and Control

Jul 7, 1010 · 1 min read

Problem

Developed a hydrodynamic model for the Sparus AUV and implemented a Simulink-based stabilization controller for underactuated dynamics.

Sparus AUV Modelling and Control detail image

Approach

  • Derived a reduced hydrodynamic model suitable for control-oriented simulation.
  • Implemented and tuned a Simulink stabilization loop for underactuated operating conditions.
Past Robotics