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arXiv · 1411.4388

A note on stability of nongeneric equilibria for an underwater vehicle

Petre Birtea·Dan Comanescu
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Abstract

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 o 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.

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Petre Birtea, Dan Comanescu. 2014-11-17. A note on stability of nongeneric equilibria for an underwater vehicle. https://doi.org/10.1016/j.geomphys.2017.03.007

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