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dc.contributor.authorLecaros, R.
dc.contributor.authorRosier, L.
dc.date.accessioned2016-06-13T13:33:48Z
dc.date.available2016-06-13T13:33:48Z
dc.date.issued2014-12-31
dc.identifier.issn1292-8119
dc.identifier.urihttp://hdl.handle.net/20.500.11824/223
dc.description.abstractIn 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.
dc.formatapplication/pdf
dc.language.isoengen_US
dc.rightsReconocimiento-NoComercial-CompartirIgual 3.0 Españaen_US
dc.rights.urihttp://creativecommons.org/licenses/by-nc-sa/3.0/es/en_US
dc.subjectControllability
dc.subjectEuler equations
dc.subjectSubmarines
dc.subjectFinite dimensional systems
dc.subjectInviscid fluids
dc.subjectIrrotational flow
dc.subjectLocal controllability
dc.subjectQuaternion
dc.subjectReturn method
dc.subjectTime derivative
dc.subjectUnderwater vehicles
dc.subjectVehicles
dc.titleControl of underwater vehicles in inviscid fluids: I. Irrotational flows
dc.typeinfo:eu-repo/semantics/articleen_US
dc.identifier.doi10.1051/cocv/2013079
dc.relation.publisherversionhttp://www.esaim-cocv.org/articles/cocv/abs/2014/03/cocv130079/cocv130079.html
dc.rights.accessRightsinfo:eu-repo/semantics/openAccessen_US
dc.type.hasVersioninfo:eu-repo/semantics/acceptedVersionen_US
dc.journal.titleESAIM - Control, Optimisation and Calculus of Variationsen_US


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Reconocimiento-NoComercial-CompartirIgual 3.0 España
Except where otherwise noted, this item's license is described as Reconocimiento-NoComercial-CompartirIgual 3.0 España