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dc.contributor.authorBousquet, Gabriel David Elie Sylvain
dc.contributor.authorTriantafyllou, Michael S
dc.contributor.authorSlotine, Jean-Jacques E
dc.date.accessioned2020-02-27T19:48:25Z
dc.date.available2020-02-27T19:48:25Z
dc.date.issued2017-09
dc.identifier.isbn9781538626825
dc.identifier.issn2153-0866
dc.identifier.urihttps://hdl.handle.net/1721.1/123873
dc.description.abstractIn recent years, hydrofoils have become ubiquitous and critical components of high-performance surface vehicles. Twenty-meter-long hydrofoil sailing craft are capable of reaching speeds in excess of 45 knots. Hydrofoil dinghies routinely travel faster than the wind and reach speeds up to 30 knots. Besides, in the quest for super-maneuverability, actuated hydrofoils could enable the efficient generation of large forces on demand. However, the control of hydrofoil systems remains challenging, especially in rough seas. With the intent to ultimately enable the design of versatile, small-scale, high-speed, and super-maneuverable surface vehicles, we investigate the problem of controlling the lift force generated by a flexible, surface-piercing hydrofoil traveling at high speed through a random wave field. We present a test platform composed of a rudder-like vertical hydrofoil actuated in pitch. The system is instrumented with velocity, force, and immersion depth sensors. We carry out high-speed field experiments in the presence of naturally occurring waves. The 2 cm chord hydrofoil is successfully controlled with a LTV/feedback linearization controller at speeds ranging from 4 to 10+ m/s.en_US
dc.language.isoen
dc.publisherIEEEen_US
dc.relation.isversionofhttp://dx.doi.org/10.1109/iros.2017.8206282en_US
dc.rightsCreative Commons Attribution-Noncommercial-Share Alikeen_US
dc.rights.urihttp://creativecommons.org/licenses/by-nc-sa/4.0/en_US
dc.sourceElizabeth Soergelen_US
dc.titleControl of a flexible, surface-piercing hydrofoil for high-speed, small-scale applicationsen_US
dc.typeArticleen_US
dc.identifier.citationG. D. Bousquet, M. S. Triantafyllou and J. E. Slotine, "Control of a flexible, surface-piercing hydrofoil for high-speed, small-scale applications," 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, BC, 2017, pp. 4203-4208.en_US
dc.contributor.departmentMassachusetts Institute of Technology. Department of Mechanical Engineeringen_US
dc.relation.journal2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)en_US
dc.eprint.versionAuthor's final manuscripten_US
dc.type.urihttp://purl.org/eprint/type/ConferencePaperen_US
eprint.statushttp://purl.org/eprint/status/NonPeerRevieweden_US
dc.date.updated2020-02-26T19:39:44Z
dspace.date.submission2020-02-26T19:39:48Z
mit.licenseOPEN_ACCESS_POLICY


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