Bifurcation analysis of motion of the underwater vehicle

It is difficult to use the traditional linearized methods to explain the mechanisms for nonlinear phenomenon such as lurch of the underwater vehicle. In this paper the bifurcation theory and the principles of continuation based on homotopy techniques were applied to stable state response and motion stability analysis of the underwater vehicle. The results were verified by simulation using direct numerical integrations of the fully nonlinear, coupled six degrees-of-freedom equations of motion for the underwater vehicle. It provides a nonlinear analysis method for motion of the underwater vehicle.