Stability and drift of underwater vehicle dynamics: mechanical systems with rigid motion symmetry
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Publication:1963283
DOI10.1016/S0167-2789(97)83390-8zbMath0963.70528MaRDI QIDQ1963283
Naomi Ehrich Leonard, Jerrold E. Marsden
Publication date: 24 January 2000
Published in: Physica D (Search for Journal in Brave)
stability of relative equilibriarigid motion symmetrymechanical systems with symmetryunderwater vehicle dynamicsbottom-heavy vehicleconditions for Lyapunov stabilitynoncompact symmetry group
Control of mechanical systems (70Q05) Symmetries and conservation laws, reverse symmetries, invariant manifolds and their bifurcations, reduction for problems in Hamiltonian and Lagrangian mechanics (70H33) Stability problems in rigid body dynamics (70E50) Stability problems for problems in Hamiltonian and Lagrangian mechanics (70H14)
Related Items (30)
Lie group integrators for mechanical systems ⋮ Control of body motion in an ideal fluid using the internal mass and the rotor in the presence of circulation around the body ⋮ A note on stability of nongeneric equilibria for an underwater vehicle ⋮ Classification and stability of relative equilibria for the two-body problem in the hyperbolic space of dimension 2 ⋮ Stability of a bottom-heavy underwater vehicle ⋮ Controlled Lagrangians and stabilization of Euler-Poincaré mechanical systems with broken symmetry. II: Potential shaping ⋮ Stabilization of underwater vehicle dynamics with symmetry-breaking potentials ⋮ Controlled Lagrangians and Stabilization of Euler--Poincaré Mechanical Systems with Broken Symmetry I: Kinetic Shaping ⋮ Symmetric Reduction and Hamilton-Jacobi Equations of the Controlled Underwater Vehicle-Rotor System ⋮ Kirchhoff's equations for the rigid body motion revisited ⋮ Persistence of Hamiltonian relative periodic orbits. ⋮ Hydrodynamics and stability of a deformable body moving in the proximity of interfaces ⋮ Controlled Lagrangians and the stabilization of Euler-Poincaré mechanical systems ⋮ Dynamics of many bodies in a liquid: Added-mass tensor of compounded bodies and systems with a fast oscillating body ⋮ Regular reduction of controlled Hamiltonian system with symplectic structure and symmetry ⋮ Reduction theory and the Lagrange–Routh equations ⋮ Controlled motion of a rigid body with internal mechanisms in an ideal incompressible fluid ⋮ Stabilization of relative equilibria for underactuated systems on Riemannian manifolds ⋮ ON THE CONTROL OF THE MOTION OF A BOAT ⋮ Stability of Poisson equilibria and Hamiltonian relative equilibria by energy methods ⋮ Motion stability of a deformable body in an ideal fluid with applications to the N spheres problem ⋮ Motion on submanifolds of noninvariant holonomic constraints for a kinematic control system evolving on a matrix Lie group ⋮ Dynamics of the Kirchhoff equations. I: Coincident centers of gravity and buoyancy ⋮ Stability of Hamiltonian relative equilibria in symmetric magnetically confined rigid bodies ⋮ The Euler-Poincaré equations and semidirect products with applications to continuum theories ⋮ Stabilisation of a relative equilibrium of an underactuated AUV on SE(3) ⋮ Poisson reduction for nonholonomic mechanical systems with symmetry ⋮ Symplectic reduction for semidirect products and central extensions ⋮ Locomotion of deformable bodies in an ideal fluid: Newtonian versus Lagrangian formalisms ⋮ Hamiltonian systems near relative equilibria
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