# 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

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topLecaros, 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 -

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