Three dimensional pursuit guidance and control of submersible vehicles
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Authors
Papasotiriou, Evangelos G.
Subjects
Submersible
Autopilot
Path
Stability
Guidance
Autopilot
Path
Stability
Guidance
Advisors
Papoulias, Fotis A.
Date of Issue
1991-09
Date
September 1991
Publisher
Monterey, California. Naval Postgraduate School
Language
en_US
Abstract
A pure pursuit guidance law is combined with a heading autopilot to provide accurate path keeping of submersible vehicles. The scheme is implemented and analyzed in both the horizontal and vertical planes. A complete stability analysis is performed in order to evaluate regions of stable vehicle operations. Numerical integrations support the analytic predictions. Two distinct stability boundaries are established. In the first, the vehicle loss of stability is accompanied by the generation of oscillatory motions around the commanded path. In the second, loss of stability occurs with linearly increasing path deviation. The horizontal and vertical plane schemes are combined with a propulsion control law in order to achieve path tracking of a general commanded route composed of several straight line segments in three dimensional space.
Type
Thesis
Description
Series/Report No
Department
Mechanical Engineering
Organization
Naval Postgraduate School (U.S.)
Identifiers
NPS Report Number
Sponsors
Funder
Format
103 p.
Citation
Distribution Statement
Approved for public release; distribution is unlimited.
Rights
Copyright is reserved by the copyright owner