DYNAMIC CONTROL CAPABILITIES AND DEVELOPMENTS OF THE BLUEFIN ROBOTICS AUV FLEET

This paper describes ongoing control systems work conducted at Bluefin Robotics to improve the dynamic control capabilities of AUVs. Bluefin continuously strives to improve vehicle performance in order to deliver superior data quality. Recent advances in the AUV modeling are presented that are helping Bluefin design vehicles and controllers. Additionally, a number of improvements to the existing control system have improved the quality of the vehicle's dynamic response.