Three Dimensional Pursuit Guidance and Control of Submersible Vehicles

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 accompanies 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.

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Document Details

Document Type
Technical Report
Publication Date
Sep 01, 1991
Accession Number
ADA246567

Entities

People

  • Evangelos G. Papasotiriou

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • Air Platforms

DTIC Thesaurus Topics

  • Automatic Pilots
  • Autonomous Underwater Vehicles
  • Classification
  • Differential Equations
  • Engineering
  • Equations
  • Equations Of Motion
  • Geometry
  • Guidance
  • Mechanical Engineering
  • Navigation
  • Numerical Integration
  • Plane Geometry
  • Submersibles
  • Three Dimensional
  • Underwater Vehicles
  • Vehicles

Readers

  • Control Systems Engineering.
  • Robotics and Automation.

Technology Areas

  • Space
  • Space - Spacecraft Maneuvers