Robust control of a flexible-hull propulsion system
Name
48206271-MIT.pdf
Description
Full printable version
Size
5.34 MB
Format
Adobe PDF
Checksum (MD5)
a2b2b668dcb6d673dd69c36b40027988
Author(s)
Gadda, Christopher D. (Christopher David), 1974-
Advisor(s)
Jamie Anderson.
Date Issued
1998
Publisher
Massachusetts Institute of Technology
Abstract
The Charles Stark Draper Laboratory is continuing the research done on fish-like propulsion systems with the Vorticity Control Unmanned Underwater Vehicle (VCUUV) project. The VCUUV is a fully autonomous robotic fish, which employs a flexible tail structure for propulsion and maneuvering. This paper describes the design, implementation, and testing of a control system for the tail of the VCUUV. Both linear and nonlinear control techniques are discussed.
Description
Thesis (M.Eng. and S.B.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 1998.
Includes bibliographical references (p. 69).
Subjects
Electrical Engineering and Computer Science.
MIT Department
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
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copyright. They may be viewed from this source for any purpose, but
reproduction or distribution in any format is prohibited without written
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