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Control of underwater vehicles in inviscidfluids

I. Irrotational flows

Published online by Cambridge University Press:  27 May 2014

Rodrigo Lecaros  and
Lionel Rosier
Rodrigo Lecaros
Affiliation:
Centro de Modelamiento Matemático (CMM) and Departamento de Ingeniería Matemática, Universidad de Chile (UMI CNRS 2807), Avenida Blanco Encalada 2120, Casilla 170-3, Correo 3, Santiago, Chile. rlecaros@dim.uchile.cl Basque Center for Applied Mathematics – BCAM, Mazarredo 14, 48009 Bilbao, Basque Country, Spain; rlecaros@bcamath.org
Lionel Rosier
Affiliation:
Institut Elie Cartan, UMR 7502 UdL/CNRS/INRIA, B.P. 70239, 54506 Vandœuvre-lès-Nancy Cedex, France; Lionel.Rosier@univ-lorraine.fr
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Abstract

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

Keywords

Underactuated underwater vehiclesubmarinecontrollabilityEuler equationsreturn methodquaternion

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Type
Research Article
Information
ESAIM: Control, Optimisation and Calculus of Variations , Volume 20 , Issue 3 , July 2014 , pp. 662 - 703
Copyright
© EDP Sciences, SMAI, 2014

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