Control of underwater vehicles in inviscid fluids

Rodrigo Lecaros; Lionel Rosier

ESAIM: Control, Optimisation and Calculus of Variations (2014)

  • Volume: 20, Issue: 3, page 662-703
  • ISSN: 1292-8119

Abstract

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In this paper, we investigate the controllability of an underwater vehicle immersed in an infinite volume of an inviscid fluid whose flow is assumed to be irrotational. Taking as control input the flow of the fluid through a part of the boundary of the rigid body, we obtain a finite-dimensional system similar to Kirchhoff laws in which the control input appears through both linear terms (with time derivative) and bilinear terms. Applying Coron’s return method, we establish some local controllability results for the position and velocities of the underwater vehicle. Examples with six, four, or only three controls inputs are given for a vehicle with an ellipsoidal shape.

How to cite

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Lecaros, Rodrigo, and Rosier, Lionel. "Control of underwater vehicles in inviscid fluids." ESAIM: Control, Optimisation and Calculus of Variations 20.3 (2014): 662-703. <http://eudml.org/doc/272766>.

@article{Lecaros2014,
abstract = {In this paper, we investigate the controllability of an underwater vehicle immersed in an infinite volume of an inviscid fluid whose flow is assumed to be irrotational. Taking as control input the flow of the fluid through a part of the boundary of the rigid body, we obtain a finite-dimensional system similar to Kirchhoff laws in which the control input appears through both linear terms (with time derivative) and bilinear terms. Applying Coron’s return method, we establish some local controllability results for the position and velocities of the underwater vehicle. Examples with six, four, or only three controls inputs are given for a vehicle with an ellipsoidal shape.},
author = {Lecaros, Rodrigo, Rosier, Lionel},
journal = {ESAIM: Control, Optimisation and Calculus of Variations},
keywords = {underactuated underwater vehicle; submarine; controllability; Euler equations; return method; quaternion; underwater vehicle},
language = {eng},
number = {3},
pages = {662-703},
publisher = {EDP-Sciences},
title = {Control of underwater vehicles in inviscid fluids},
url = {http://eudml.org/doc/272766},
volume = {20},
year = {2014},
}

TY - JOUR
AU - Lecaros, Rodrigo
AU - Rosier, Lionel
TI - Control of underwater vehicles in inviscid fluids
JO - ESAIM: Control, Optimisation and Calculus of Variations
PY - 2014
PB - EDP-Sciences
VL - 20
IS - 3
SP - 662
EP - 703
AB - In this paper, we investigate the controllability of an underwater vehicle immersed in an infinite volume of an inviscid fluid whose flow is assumed to be irrotational. Taking as control input the flow of the fluid through a part of the boundary of the rigid body, we obtain a finite-dimensional system similar to Kirchhoff laws in which the control input appears through both linear terms (with time derivative) and bilinear terms. Applying Coron’s return method, we establish some local controllability results for the position and velocities of the underwater vehicle. Examples with six, four, or only three controls inputs are given for a vehicle with an ellipsoidal shape.
LA - eng
KW - underactuated underwater vehicle; submarine; controllability; Euler equations; return method; quaternion; underwater vehicle
UR - http://eudml.org/doc/272766
ER -

References

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