Relative equilibria of coupled underwater vehicles
Date
2005-05-13
Authors
Journal Title
Journal ISSN
Volume Title
Publisher
ORCID
Type
Degree Level
Masters
Abstract
The dynamics of a single underwater vehicle in an ideal irrotational fluid may be modeled by a Lagrangian system with configuration space the Euclidean group. If hydrodynamic coupling is ignored then two coupled vehicles may be modeled by the direct product of two single-vehicle systems. We consider this system in the case that the vehicles are coupled mechanically, with an ideal spherically symmetric joint, finding all of the relative equilibria. We demonstrate that there are relative equilibria in certain novel momentum-generator regimes identified by Patrick et.al. "Stability of Poisson equilibria and Hamiltonian relative equilibria by energy methods", Arch. Rational Mech. Anal., 174:301--344, 2004.
Description
Keywords
relative equilibria, hamiltonian system with symmetry, Kirchoff equations
Citation
Degree
Master of Science (M.Sc.)
Department
Mathematics and Statistics
Program
Mathematics and Statistics