Robust control of a flexible-hull propulsion system

Author(s)
Gadda, Christopher D. (Christopher David), 1974-
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Massachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science.
Advisor
Jamie Anderson.
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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).
 
Date issued
1998
URI
http://hdl.handle.net/1721.1/46282
Department
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
Publisher
Massachusetts Institute of Technology
Keywords
Electrical Engineering and Computer Science.
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