A Lyapunov function for vehicles with lift and drag: Stability of gliding

Pradeep Bhatta, Naomi Ehrich Leonard

Research output: Contribution to journalConference article

15 Scopus citations

Abstract

The energy of a mechanical system naturally provides a Lyapunov function to prove stability of steady motions. This is no longer the case when the system is subject to aerodynamic forces. We derive a Lyapunov function to prove stability of steady, gliding motions for vehicles subject to lift and drag. We make use of a conservation law derived by Lanchester in his original phugoid mode model and in so doing prove conditions under which Lanchester's simplifying assumptions are valid. We apply the results to prove stability and estimate the region of attraction for an underwater glider.

Original languageEnglish (US)
Article numberThC13.3
Pages (from-to)4101-4106
Number of pages6
JournalProceedings of the IEEE Conference on Decision and Control
Volume4
DOIs
StatePublished - Jan 1 2004
Event2004 43rd IEEE Conference on Decision and Control (CDC) - Nassau, Bahamas
Duration: Dec 14 2004Dec 17 2004

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

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