We consider the motion of a planar rigid body in a potential two-dimensional flow with a circulation and subject to a certain nonholonomic constraint. This model can be related to the design of underwater vehicles. The equations of motion admit a reduction to a 2-dimensional nonlinear system, which is integrated explicitly. We show that the reduced system comprises both asymptotic and periodic dynamics separated by a critical value of the energy, and give a complete classification of types of the motion. Then we describe the whole variety of the trajectories of the body on the plane.
The motion of the 2D hydrodynamic chaplygin sleigh in the presence of circulation
Garcia-Naranjo L. C.;
2013
Abstract
We consider the motion of a planar rigid body in a potential two-dimensional flow with a circulation and subject to a certain nonholonomic constraint. This model can be related to the design of underwater vehicles. The equations of motion admit a reduction to a 2-dimensional nonlinear system, which is integrated explicitly. We show that the reduced system comprises both asymptotic and periodic dynamics separated by a critical value of the energy, and give a complete classification of types of the motion. Then we describe the whole variety of the trajectories of the body on the plane.
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