{"id":{"repo_id":"mit","oai_identifier":"oai:dspace.mit.edu:1721.1/46282"},"canonical_url":"https://search.dev.ndltd.org/etd/mit/oai:dspace.mit.edu:1721.1/46282","repository":{"repo_id":"mit","name":"MIT","base_url":"https://dspace.mit.edu/oai/request"},"display":{"title":"Robust control of a flexible-hull propulsion system","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.","abstract_html":"The Charles Stark Draper Laboratory is continuing the research done on fish-like propulsion systems with the Vorticity Control Unmanned Underwater Vehicle (VCUUV) project. 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