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In this paper we study the controlled motion of an arbitrary two-dimensionalbody in an ideal fluid with a moving internal mass and an internal rotor in thepresence of constant circulation around the body. We show that by changing theposition of the internal mass and by rotating the rotor, the body can be madeto move to a given point, and discuss the influence of nonzero circulation onthe motion control. We have found that in the presence of circulation aroundthe body the system cannot be completely stabilized at an arbitrary point ofspace, but fairly simple controls can be constructed to ensure that the bodymoves near the given point.

Control of body motion in an ideal fluid using the internal mass and the rotor in the presence of circulation around the body