Cart (Loading....) | Create Account
Close category search window
 

Mechanics, Dynamics, and Control of a Single-Input Aquatic Vehicle With Variable Coefficient of Lift

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Kelly, S.D. ; Dept. of Mech. & Ind. Eng., Univ. of Illinois at Urbana-Champaign, Urbana, IL ; Hukkeri, R.B.

We describe basic considerations in the Lagrangian modeling of aquatic vehicles developing liftlike forces in a controlled way. We introduce the aquatic Flettner rotor as prototypical of this class of vehicles, and demonstrate the compatibility of Lagrangian formalism with experimental data describing a laboratory rotor. We analyze the controllability of a model for the rotor, connect its structure to that of models for Lagrangian systems subject to nonholonomic constraints, and present numerical evidence that our model can behave chaotically given physically motivated inputs and disturbances. We conclude with a description of a fishlike robotic vehicle employing a rotor in place of a caudal fin

Published in:

Robotics, IEEE Transactions on  (Volume:22 ,  Issue: 6 )

Date of Publication:

Dec. 2006

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.