Motion Planning and Control of a Swimming Machine

Abstract

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

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