Abstract
The problem of motion stability of submersible vehicles in free positive buoyancy ascent is analyzed. Motion is allowed to occur in combined vertical and horizontal planes. Continuation and catastrophe theory techniques are employed to trace all possible steady-state solutions in six degrees of freedom, while local linearization reveals their stability properties. Vehicle geometric properties and control surface deflections are used as the primary bifurcation parameters. It is shown that multiple solutions may exist in the form of pitchfork bifurcation, solution separation, hysteresis, and teardrop branches. Regions in parameter spaces are identified where extreme sensitivity of solutions to geometric properties and hydrodynamic modeling is present.
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