Control of body motion in an ideal fluid using the internal mass and the rotor in the presence of circulation around the body

DOI10.1007/S10883-016-9345-4zbMATH Open1369.70021arXiv1605.03823OpenAlexW2964004415MaRDI QIDQ2364396FDOQ2364396

Authors: Evgeniĭ Vladimirovich Vetchanin, Alexander A. Kilin 

Publication date: 19 July 2017

Published in: Journal of Dynamical and Control Systems (Search for Journal in Brave)

Abstract: In this paper we study the controlled motion of an arbitrary two-dimensional body in an ideal fluid with a moving internal mass and an internal rotor in the presence of constant circulation around the body. We show that by changing the position of the internal mass and by rotating the rotor, the body can be made to move to a given point, and discuss the influence of nonzero circulation on the motion control. We have found that in the presence of circulation around the body the system cannot be completely stabilized at an arbitrary point of space, but fairly simple controls can be constructed to ensure that the body moves near the given point.

Full work available at URL: https://arxiv.org/abs/1605.03823

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zbMATH Keywords

controllabilityideal fluidKirchhoff equationscirculation around the body

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Control of mechanical systems (70Q05) Flow control and optimization for incompressible inviscid fluids (76B75)

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Cited In (17)

• Self-propulsion of a smooth body in a viscous fluid under periodic oscillations of a rotor and circulation
• The self-propulsion of a foil with a sharp edge in a viscous fluid under the action of a periodically oscillating rotor
• Optimal control of the motion of a helical body in a liquid using rotors
• Dynamics of a body with a sharp edge in a viscous fluid
• The motion of a two-dimensional body, controlled by two moving internal masses, in an ideal fluid
• Control of the motion of an unbalanced heavy ellipsoid in an ideal fluid using rotors
• A coin vibrational motor swimming at low Reynolds number
• Motion of a body with undeformable shell and variable mass geometry in an unbounded perfect fluid
• Geometric optimal filtering for an articulated \(n\)-trailer vehicle with unknown parameters
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• Influence of vortex structures on the controlled motion of an above-water screwless robot
• Control of the motion of a triaxial ellipsoid in a fluid using rotors
• Dynamics of a smooth profile in a medium with friction in the presence of parametric excitation

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