volume 4, issue 3, P243-261 2014
DOI: 10.12989/ose.2014.4.3.243
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Nicolas Plamondon, Meyer Nahon

Abstract: Aqua is an underwater biomimetic vehicle designed and built at McGill University that uses six paddles to produce control and propulsion forces. It has the particularity of having time-periodic thrust due to its oscillating paddles. Using an existing model of the vehicle, two types of controller were developed: a PD controller and a Floquet controller. The Floquet controller has the advantage of explicitly addressing the time-periodicity of the system. The performance of the controllers was assessed through si…

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