On the control of the motion of a boat

In this paper we study the motion of a boat, viewed as a rigid body S with one axis of symmetry, which is surrounded by an inviscid incompressible fluid filling R^2 -S. We take as control input the flow of the fluid through a part of the boundary of the boat. We prove that the position, orientation, and velocity of the boat are locally controllable with a bidimensional control input, even if the flow displays some vorticity.ou