Effects of positional information time lags on motion stability of autonomous vehicles.

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Author
Venne, Daniel V.
Date
1992-09Advisor
Papoulias, Fotis A.
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Show full item recordAbstract
Highly maneuverable ocean going vehicles require quick response, control, and
guidance to maintain accurate track keeping characteristics. Ocean vehicles, however, may
experience significant lags in their inertial positional information that limit their reaction
times. This thesis investigates the effects of these lags on guidance and control. The
relationship of critical visibility versus the controller time constant and its effect on the
stability of the guidance/control scheme is analyzed. Results are presented based on time
domain and frequency response techniques using a dynamic model of the Naval
Postgraduate School Autonomous Underwater Vehicle II (NPS AUV II), for which a
complete set of hydrodynamic coefficients and geometric properties is available.
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