In support of writing a journal paper with the Nonlinear Controls and Robotics (NCR) group, we conducted controller tests in the Gulf of Mexico off the coast of Panama City, FL. This sea trial tested the robustness of the RISE controller which is implemented on SubjuGator 7. The RISE controller is a cutting edge robust nonlinear controller developed by the NCR group. The testing in the Gulf of Mexico was successful proving that the RISE controller and SubjuGator 7 were able to operate in an open water environment with 3-4 ft seas and ocean currents.
