After a few small thruster leakage setbacks, we’ve officially completed all of the calibration and tuning procedures for SubjuGator 7. We’re using a new nonlinear controller this year, which is achieving outstanding transient performance and steady-state tracking errors over last year’s PD. We’re able to successfully move to desired waypoints and orientations using our real-time C3 continuous trajectory generator. Here is a photo of the controller tuning process at the pool yesterday.
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