Effects of Positional Information Time Lags on Motion Stability of Autonomous Vehicles

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 11 (NPS AUV 11), for which a complete set of hydrodynamic coefficients and geometric properties is available.

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Document Details

Document Type
Technical Report
Publication Date
Sep 01, 1992
Accession Number
ADA257340

Entities

People

  • Daniel V. Venne

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • Autonomy
  • C4I

DTIC Thesaurus Topics

  • Autonomous Underwater Vehicles
  • Autonomous Vehicles
  • Coast Guard
  • Coefficients
  • Computations
  • Control Systems
  • Differential Equations
  • Engineering
  • Equations
  • Equations Of Motion
  • Frequency Response
  • Guidance
  • Mechanical Engineering
  • Three Dimensional
  • Two Dimensional
  • Underwater Vehicles
  • Vehicles

Readers

  • Coastal Oceanography
  • Control Systems Engineering.
  • Sensor Fusion and Tracking Systems.

Technology Areas

  • Autonomy