Аннотация:Mathematical model of motion of a rowing boat is studied. The rowing system is based on a double slider-crank mechanism. Relation between an average hydrodynamic force and an average inertia force is assumed to be sufficiently small. The PoincarePontryagin approach is used to describe, how an average speed of the body at steady motions depends on a control torque applied to a motor.
http://congressline.hu/enoc2017/abstracts/317.pdf