Effects of positional information time lags on motion stability of autonomous vehicles.
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Authors
Venne, Daniel V.
Subjects
Advisors
Papoulias, Fotis A.
Date of Issue
1992-09
Date
Publisher
Monterey, California. Naval Postgraduate School
Language
en_US
Abstract
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.
Type
Thesis
Description
Series/Report No
Department
Mechanical Engineering
Organization
Naval Postgraduate School
Identifiers
NPS Report Number
Sponsors
Funder
Format
83 p.;28 cm.
Citation
Distribution Statement
Approved for public release; distribution is unlimited.