Modelling efficient pisciform swimming for control

International Journal of Robust and Nonlinear Control

Volumn 10, Issue 4, 2000, Pages 217-241

  Kelly, Scott D ^a   Murray, Richard M ^a  

^a California Institute of Technology   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

HYDRODYNAMICS; INCOMPRESSIBLE FLOW; MARINE APPLICATIONS; MATHEMATICAL MODELS; MOBILE ROBOTS; VORTEX SHEDDING;

EULER-LAGRANGE EQUATIONS; HYDROFOIL THEORY; PISCIMIMETIC ROBOTS;

NONLINEAR CONTROL SYSTEMS;

EID: 0034165972     PISSN: 10498923     EISSN: None     Source Type: Journal    
DOI: 10.1002/(SICI)1099-1239(20000415)10:4<217::AID-RNC469>3.0.CO;2-X     Document Type: Article

References (23)

1. Newman JN, Wu TY. Hydromechanical aspects of fish swimming. In: Swimming and Flying in Nature, Wu TY, Brokaw CJ, Brennen C. (eds). 1974; 615-634.
2. Triantafyllou MS, Triantafyllou GS. An efficient swimming machine. Scientific American 1995; 272:64-70.
3. Lighthill Sir J. Mathematical Biofluiddynamics. SIAM: Philadelphia, PA, 1975.
4. Breder CM. The locomotion of fishes. Zoologica 1926; 4:159-297.
5. Marsden JE, Scheurle J. The reduced Euler-Lagrange equations. Fields Institute Communications 1993; 1:139-164.
6. Özcazanç Y. Dynamics and stability of spacecraft with fluid filled containers. Ph.D Thesis, University of Maryland, 1994.
7. Arnol'd VI, Khesin BA. Topological Methods in Hydrodynamics. Springer: Berlin, 1998.
8. Karpouzian G, Spedding G, Cheng HK. Lunate-tail swimming propulsion. Part 2. performance analysis. Journal of Fluid Mechanics 1990; 210:329-351.
9. Milne-Thomson LM. Theoretical Aerodynamics. Dover: New York, 1973.
10. Harper KA, Berkemeier MD, Grace, S. Modeling the dynamics of spring-driven, oscillating-foil propulsion. IEEE Journal of Oceanic Engineering 1998; 23(3):285-296.
11. Kelly SD, Mason RJ, Anhalt CT, Murray RM, Burdick JW. Modelling and experimental investigation of carangiform locomotion for control. Proceedings of the 1998 American Control Conference, 1998.
12. Marsden JE, Ratiu TS. Introduction to Mechanics and Symmetry. Springer: Berlin, 1994.
13. Chorin AJ, Marsden JE. A Mathematical Introduction to Fluid Mechanics (3rd edn). Springer: Berlin, 1993.
14. Milne-Thomson LM. Theoretical Hydrodynamics. Dover: New York, 1996.
15. Kelly SD, Murray RM. The geometry and control of dissipative systems. Proceedings of the IEEE Control and Decision Conference, 1996.
16. Nijmeijer H, van der Schaft AJ. Nonlinear Dynamical Control Systems. Springer: Berlin, 1990.
17. Spedding GR. The Aerodynamics of Flight. In Advances in Comparative and Environmental Physiology, vol. II. Springer: Berlin, 1992.
18. Wu TY. Hydrodynamics of swimming of fishes and cetaceans. Advances in Applied Mechanics, vol. II. Academic Press: New York, 1971.
19. Katz J, Plotkin A. Low Speed Aerodynamics: From Wing Theory to Panel Methods. McGraw-Hill: New York, 1991.
20. Streitlien K, Triantafyllou GS, Triantafyllou MS. Efficient foil propulsion through vortex control. AIAA Journal 1996; 34:2315-2319.
21. Kelly SD, Murray RM. Geometric phases and robotic locomotion. Journal of Robotic Systems 1995; 12:417-431. Extended version available online via http://avalon.caltech.edu/cds/reports.
22. Murray RM, Burdick JW, Kelly SD, Radford J. Trajectory generation for mechanical systems with application to robotic locomotion. Proceedings of the Workshop on Algorithmic Foundations of Robotics, 1998.
23. Bloch AM, Krishnaprasad PS, Marsden JE, Murray RM. Nonholonomic mechanical systems and symmetry. Archive for Rational Mechanics and Analysis 1996; 136:21-99.