Robust control of a flexible-hull propulsion system
Author(s)Gadda, Christopher D. (Christopher David), 1974-
Massachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science.
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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.
Thesis (M.Eng. and S.B.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 1998.Includes bibliographical references (p. 69).
DepartmentMassachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science.
Massachusetts Institute of Technology
Electrical Engineering and Computer Science.