Reference path generation and tracking of marine vehicles
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Authors
Panoff, Timothy J.
Subjects
Reference path
Equations of motion
LQR
Equations of motion
LQR
Advisors
Papoulias, Fotis A.
Date of Issue
1992-09
Date
September 1992
Publisher
Monterey, California. Naval Postgraduate School
Language
en_US
Abstract
This thesis analyzes the problem of accurate path following for marine vehicles. The reference path is generated automatically through the use of a critically damped second order model. An appropriate shift in the time axis allows a smooth path with zero overshoot regardless of the initial conditions. Control design for the physical system is achieved through the use of optimum control and linear quadratic regulator techniques. Results are presented for general maneuvering scenarios in the horizontal plane and demonstrate the validity of the methods used in the research.
Type
Thesis
Description
Series/Report No
Department
Mechanical Engineering
Organization
Naval Postgraduate School (U.S.)
Identifiers
NPS Report Number
Sponsors
Funder
Format
58 p.
Citation
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.