A Trimaran Controlled by an Internal Flywheel

A trimaran is represented by a platform on three identical floats. The floats are submerged in water. A flywheel driven by a motor is installed on the platform. A quasi-static approach is used to describe the hydrodynamic load; added masses are taken into account. A control of the flywheel is constructed that ensures propulsion of the trimaran in water. For this motion, the projection of the velocity of the center of mass onto the desired direction does not change the sign.