Coupled directional stability of multiple ship formations
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Authors
Babaoglu, Ufuk
Subjects
String stability
Platoon
Surface marine vessel
Path control
Control law
Guidance law
Eigenvalues
Damping ratio
Natural frequency
Platoon
Surface marine vessel
Path control
Control law
Guidance law
Eigenvalues
Damping ratio
Natural frequency
Advisors
Papoulias, Fotis A.
Yakimenko, Oleg
Date of Issue
2013-06
Date
Jun-13
Publisher
Monterey, California: Naval Postgraduate School
Language
Abstract
This thesis addresses the problem of coordinated motion control and the stability loss of surface marine vehicles. The mathematical model is based on Nomotos second order model which captures the fundamental dynamics of turning on the horizontal plane with no side slip. A state feedback control law is coupled with a line of sight guidance law to provide path control. A string of three vehicles is considered where each vehicle is using the vehicle in the front as a reference point. The coupled motion stability of the formation is analyzed by linearization. It is shown that under the assumed dynamics, guidance, and control laws, the stability properties of the system decoupled into individual vehicles. This makes it possible to obtain exact analytical results that can be used in design. Parametric runs and sensitivity analysis studies show the effect of main vehicle geometric parameters on formation control and motion stability.
Type
Description
Series/Report No
Department
Mechanical and Aerospace Engineering (MAE)
Organization
Identifiers
NPS Report Number
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Distribution Statement
Approved for public release; distribution is unlimited.
Rights
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.