Title :
Underwater locomotion from oscillatory shape deformations
Author :
Vela, Patricio A. ; Morgansen, Kristi A. ; Burdick, Joel W.
Author_Institution :
Control & Dynamical Syst., California Inst. of Technol., Pasadena, CA, USA
Abstract :
This paper considers underwater propulsion that is generated by variations in body shape. We summarize and extend some of the emerging approaches for the uniform modeling and control of such underactuated systems. Two examples illustrate these ideas.
Keywords :
Lie groups; feedback; stability; underwater vehicles; oscillatory shape deformations; underactuated systems; underwater locomotion; underwater propulsion; uniform modeling; Control systems; Feedback; Fluid flow; Kinetic energy; Lagrangian functions; Marine animals; Motion control; Propulsion; Shape control; Vehicle dynamics;
Conference_Titel :
Decision and Control, 2002, Proceedings of the 41st IEEE Conference on
Print_ISBN :
0-7803-7516-5
DOI :
10.1109/CDC.2002.1184835
