A note on stability of nongeneric equilibria for an underwater vehicle
Mathematical Physics
2018-09-05 v1 math.MP
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.
Keywords
Cite
@article{arxiv.1411.4388,
title = {A note on stability of nongeneric equilibria for an underwater vehicle},
author = {Petre Birtea and Dan Comanescu},
journal= {arXiv preprint arXiv:1411.4388},
year = {2018}
}