Motion Planning and Control of a Swimming Machine


A practical maneuvering control strategy for an aquatic vehicle (AV) that uses an oscillating foil as a propulsor is proposed. The challenge of this problem lies in the need to consider the hydrodynamic interaction as well as the underactuated and non-minimum phase natures of the AV system. The control task is decomposed into the off-line step of motion… (More)
DOI: 10.1177/0278364904038366

34 Figures and Tables



Citations per Year

57 Citations

Semantic Scholar estimates that this publication has 57 citations based on the available data.

See our FAQ for additional information.

  • Presentations referencing similar topics