Control of underwater vehicles in inviscid fluids--II. Flows with   vorticity
  In a recent paper, the authors investigated the controllability of an underwater vehicle immersed in an infinite volume of an inviscid fluid, assuming that the flow was irrotational. The aim of the present paper is to pursue this study by considering the more general case of a flow with vorticity. It is shown here that the local controllability of the position and the velocity of the underwater vehicle (a vector in R 12) holds in a flow with vorticity whenever it holds in a flow without vorticity. 
Rodrigo Lecaros (CMM, DIM), Lionel Rosier (CAS)
math.AP