]> 2026-09-11T23:07:52+00:00 Modelling and Experimental Investigation of Carangiform Locomotion for Control 0 en We propose a model for planar carangiform swimming based on conservative equations for the interaction of a rigid body and an incompressible fluid. We account for the generation of thrust due to vortex shedding through controlled coupling terms. We investigate the correct form of this coupling experimentally with a robotic propulsor, comparing its observed behavior with that predicted by unsteady hydrodynamics. Our analysis of thrust generation by an oscillating hydrofoil allows us to characterize and evaluate certain families of gaits. Our final swimming model takes the form of a control-affine nonlinear system. Scott D. Kelly, Richard J. Mason, Carl T. Anhalt, Richard M. Murray, Joel W. Burdick 1997i 1998 American Control Conference kel+98-acc Conference Paper 2016-05-15T06:19:57Z 2457523.7638542 Modelling and Experimental Investigation of Carangiform Locomotion for Control Title 102 en Title