A note on stability of nongeneric equilibria for an underwater vehicle

JOURNAL OF GEOMETRY AND PHYSICS

卷:117

Article

Birtea, Petre¹  Comanescu, Dan¹ 

[1] West Univ Timisoara, Dept Math, Bd V Parvan 4, Timisoara 300223, Romania

关键词: Nonlinear stability;    Nongeneric equilibria;    Underwater vehicle;    Hamilton-Poisson system;    Hessian operator;    Riemannian manifolds;   

DOI  :  10.1016/j.geomphys.2017.03.007

来源: Elsevier

【 摘 要 】

We study the Lyapunov stability of a family of nongeneric equilibria with spin for underwater vehicles with noncoincident centers. The nongeneric equilibria belong to singular symplectic leaves that are not characterized as a preimage to a regular value of the Casimir functions. We find an invariant submanifold such that the nongeneric equilibria belong to a preimage of a regular value that involves sub-Casimir functions. We obtain results for nonlinear stability on this invariant submanifold. (C) 2017 Elsevier B.V. All rights reserved.

【 授权许可】

Free