Robust control of a flexible-hull propulsion system

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.

Department dc:contributor.department

Massachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science.

Grantor dc:publisher

Massachusetts Institute of Technology

Year dc:date.issued

1998

Author dc:creator

• Gadda, Christopher D. (Christopher David), 1974-

Advisor dc:contributor.advisor

• Jamie Anderson.

• Electrical Engineering and Computer Science.

Statement dc:rights

• M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission.

Licence dc:rights.uri

• http://dspace.mit.edu/handle/1721.1/7582

Language dc:language.iso

eng

Handle dc:identifier.uri

http://hdl.handle.net/1721.1/46282

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/46282