Motion planning and control of a swimming machine

S. Saimek, P. Y. Li

Research output: Contribution to journalConference articlepeer-review

15 Scopus citations


The maneuvering control of an aquatic vehicle using an oscillating foil as the propulsion system is considered. The control task is decomposed into the off-line step of motion planning and the online step of feedback tracking. Optimal control techniques are used for obtain a repertoire of time scalable and concatenable primitive motions. The computed optimal motion plans are regulated by a controller that consists of a cascade of linear quadratic regulator, input-output feedback linearization and sliding mode control. Complete maneuvers are obtained by concatenating and executing time scaled copies of primitive motions. Motion planning and control scheme have been experimentally tested for longitudinal maneuvers.

Original languageEnglish (US)
Pages (from-to)125-130
Number of pages6
JournalProceedings of the American Control Conference
StatePublished - 2001
Event2001 American Control Conference - Arlington, VA, United States
Duration: Jun 25 2001Jun 27 2001


  • Aquatic vehicles
  • Hydrodynamics
  • Motion planning
  • Motion primitives
  • Oscillating foil
  • Swimming machine


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