Control of underwater vehicles in inviscid fluids

DOI10.1051/COCV/2013079MaRDI QIDQ5495485zbMATH OpenOpenAlexFDO

Authors Rodrigo Lecaros, Lionel Rosier

Publication date 4 August 2014

Published in ESAIM: Control, Optimisation and Calculus of Variations (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1303.1790

zbMATH Keywords

controllabilityEuler equationsreturn methodunderwater vehicle

Mathematics Subject Classification ID

Euler equations (35Q31) Existence, uniqueness, and regularity theory for incompressible inviscid fluids (76B03) Flow control and optimization for incompressible inviscid fluids (76B75)

Abstract: In this paper, we investigate the controllability of an underwater vehicle immersed in an infinite volume of an inviscid fluid whose flow is assumed to be irrotational. Taking as control input the flow of the fluid through a part of the boundary of the rigid body, we obtain a finite-dimensional system similar to Kirchhoff laws in which the control input appears through both linear terms (with time derivative) and bilinear terms. Applying Coron's return method, we establish some local controllability results for the position and velocities of the underwater vehicle. Examples with six, four, or only three controls inputs are given for a vehicule with an ellipsoidal shape.

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