We consider Kirchhoff model for rigid body immersed in an incompressible, irrotational, inviscid fluid with coincide centers of buoyancy and gravity (a model for dynamics of underwater vehicles). We apply variational approach and wavelet analysis methods to investigations of different motions and chaotic oscillations in this system.
Russian Academy of Sciences, Institute of Problems of Mechanical
Engineering, V.O., Bolshoj pr., 61,
199178, St. Petersburg, Russia
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