Stability and Bifurcation of Autonomous Vehicles in the Presence of Positional Information Time Lags

Abstract

The track keeping characteristics of an autonomous ocean vehicle in the presence of a realistic time lag on the vehicle's position information is examined in two ways. A Hopf bifurcation analysis is applied to better predict vehicle behavior within its region of linearized classical stability. Additionally, the effects on guidance /control stability by the use of a single stage memory model incorporating the two previous vehicle positions in place of a single position data point is investigated. Results are presented using a dynamic model of the Naval Postgraduate School Autonomous Underwater Vehicle II (NPS AUV).

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Document Details

Document Type
Technical Report
Publication Date
Sep 23, 1993
Accession Number
ADA274961

Entities

People

  • George P. Cummings

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • Air Platforms
  • Autonomy
  • C4I

DTIC Thesaurus Topics

  • Autonomous Underwater Vehicles
  • Autonomous Vehicles
  • Coast Guard
  • Computational Science
  • Control Surfaces
  • Control Systems
  • Differential Equations
  • Eigenvalues
  • Engineering
  • Equations Of Motion
  • Frequency Response
  • Geometry
  • Guidance
  • Mechanical Engineering
  • Navigation
  • Simulations
  • Underwater Vehicles

Fields of Study

  • Mathematics

Readers

  • Acoustical Oceanography.
  • Control Systems Engineering.
  • Robotics and Automation.

Technology Areas

  • Autonomy
  • Autonomy - Autonomous System Control