Effects of Observer Dynamics on Motion Stability of Autonomous Vehicles

Abstract

The problem of loss of stability of marine vehicles under cross track error control in the presence of mathematical versus actual system mismatch is analyzed. For demonstration purposes, variations in the heading angle control gain are studied. Particular emphasis is placed on analyzing the effects of observer design on system response after initial loss of stability of straight line motion. It is shown that the dynamics of the observer may have a significant effect on the computed gain margin of the control system depending on the particular basis used. Hopf bifurcation, Supercritical, Center manifold theorem, Limit cycle, Periodic solutions

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Document Details

Document Type
Technical Report
Publication Date
Jun 01, 1994
Accession Number
ADA283706

Entities

People

  • Buelent Olcay

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • Air Platforms
  • Autonomy
  • C4I
  • Ground and Sea Platforms

DTIC Thesaurus Topics

  • Artificial Intelligence
  • Autonomous Underwater Vehicles
  • Autonomous Vehicles
  • Control Systems
  • Dynamic Response
  • Eigenvectors
  • Engineering
  • Equations Of Motion
  • Guidance
  • Linear Systems
  • Marine Engineering
  • Mathematical Analysis
  • Mechanical Engineering
  • Naval Architecture
  • Object Recognition
  • Surfaces
  • Underwater Vehicles

Readers

  • Control Systems Engineering.

Technology Areas

  • Autonomy