Reference Path Generation and Tracking of Marine Vehicles

Abstract

This thesis analyzes the problem of accurate path keeping 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 models used in the research.

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Document Details

Document Type
Technical Report
Publication Date
Sep 01, 1992
Accession Number
ADA257742

Entities

People

  • Timothy J. Panoff

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • Air Platforms
  • Ground and Sea Platforms

DTIC Thesaurus Topics

  • Autonomous Underwater Vehicles
  • Classification
  • Control Systems
  • Demographic Cohorts
  • Differential Equations
  • Engineering
  • Equations
  • Equations Of Motion
  • Guidance
  • Mechanical Engineering
  • Naval Architecture
  • Security
  • Simulations
  • Underwater Vehicles
  • United States
  • Unmanned Vehicles
  • Vehicles

Readers

  • Computational Modeling and Simulation
  • Control Systems Engineering.