Geodesic
Control of the Motion of a Triaxial Ellipsoid in a Fluid Using Rotors
Matematičeskie zametki, Tome 102 (2017) no. 4, pp. 503-513

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The motion of a body shaped as a triaxial ellipsoid and controlled by the rotation of three internal rotors is studied. It is proved that the motion is controllable with the exception of a few particular cases. Partial solutions whose combinations enable an unbounded motion in any arbitrary direction are constructed.
Keywords: ideal fluid, motion of a rigid body, Kirchhoff equations, control by rotors, gate. 
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     author = {A. V. Borisov and E. V. Vetchanin and A. A. Kilin},
     title = {Control of the {Motion} of a {Triaxial} {Ellipsoid} in a {Fluid} {Using} {Rotors}},
     journal = {Matemati\v{c}eskie zametki},
     pages = {503--513},
     publisher = {mathdoc},
     volume = {102},
     number = {4},
     year = {2017},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/MZM_2017_102_4_a2/}
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A. V. Borisov; E. V. Vetchanin; A. A. Kilin. Control of the Motion of a Triaxial Ellipsoid in a Fluid Using Rotors. Matematičeskie zametki, Tome 102 (2017) no. 4, pp. 503-513. http://geodesic.mathdoc.fr/item/MZM_2017_102_4_a2/