• DocumentCode
    391333
  • 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
  • Volume
    2
  • fYear
    2002
  • fDate
    10-13 Dec. 2002
  • Firstpage
    2074
  • 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;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Decision and Control, 2002, Proceedings of the 41st IEEE Conference on
  • ISSN
    0191-2216
  • Print_ISBN
    0-7803-7516-5
  • Type

    conf

  • DOI
    10.1109/CDC.2002.1184835
  • Filename
    1184835
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=391333