Leonard, Naomi Ehrich and Marsden, Jerrold E. (1997) Stability and drift of underwater vehicle dynamics: Mechanical systems with rigid motion symmetry. Physica D, 105 (1-3). pp. 130-162. ISSN 0167-2789. http://resolver.caltech.edu/CaltechAUTHORS:20100823-092113436
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This paper develops the stability theory of relative equilibria for mechanical systems with symmetry. It is especially concerned with systems that have a noncompact symmetry group, such as the group of Euclidean motions, and with relative equilibria for such symmetry groups. For these systems with rigid motion symmetry, one gets stability but possibly with drift in certain rotational as well as translational directions. Motivated by questions on stability of underwater vehicle dynamics, it is of particular interest that, in some cases, we can allow the relative equilibria to have nongeneric values of their momentum. The results are proved by combining theorems of Patrick with the technique of reduction by stages. This theory is then applied to underwater vehicle dynamics. The stability of specific relative equilibria for the underwater vehicle is studied. For example, we find conditions for Liapunov stability of the steadily rising and possibly spinning, bottom-heavy vehicle, which corresponds to a relative equilibrium with nongeneric momentum. The results of this paper should prove useful for the control of underwater vehicles.
|Additional Information:||© 1997 Published by Elsevier Science B.V. July, 1995; this version: March 23, 1997. We thank George Patrick for some helpful comments and for sharing the insightful example in §3.4. We also thank the referees for a careful reading of the manuscript and for their helpful comments.|
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|Deposited By:||Ruth Sustaita|
|Deposited On:||23 Aug 2010 20:06|
|Last Modified:||26 Dec 2012 12:20|
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