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On the control of the motion of a boat

Abstract : In this paper we study the motion of a boat, viewed as a rigid body S with one axis of symmetry, which is surrounded by an inviscid incompressible fluid filling R^2 -S. We take as control input the flow of the fluid through a part of the boundary of the boat. We prove that the position, orientation, and velocity of the boat are locally controllable with a bidimensional control input, even if the flow displays some vorticity.
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https://hal.archives-ouvertes.fr/hal-00580724
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Submitted on : Wednesday, March 30, 2011 - 12:48:16 PM
Last modification on : Tuesday, January 18, 2022 - 3:24:19 PM

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  • HAL Id : hal-00580724, version 1

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Olivier Glass, Lionel Rosier. On the control of the motion of a boat. Mathematical Models and Methods in Applied Sciences, World Scientific Publishing, 2013, 23 (4), pp.617-670. ⟨hal-00580724⟩

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