Coupled Directional Stability of Multiple Ship Formations

Abstract

This thesis addresses the problem of coordinated motion control and the stability loss of surface marine vehicles. The mathematical model is based on Nomoto s second order model which captures the fundamental dynamics of turning on the horizontal plane with no side slip. A state feedback control law is coupled with a line of sight guidance law to provide path control. A string of three vehicles is considered where each vehicle is using the vehicle in the front as a reference point. The coupled motion stability of the formation is analyzed by linearization. It is shown that under the assumed dynamics, guidance, and control laws, the stability properties of the system decoupled into individual vehicles. This makes it possible to obtain exact analytical results that can be used in design. Parametric runs and sensitivity analysis studies show the effect of main vehicle geometric parameters on formation control and motion stability.

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Document Details

Document Type
Technical Report
Publication Date
Jun 01, 2013
Accession Number
ADA583562

Entities

People

  • Ufuk Babaoglu

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • Ground and Sea Platforms

DTIC Thesaurus Topics

  • Center Of Gravity
  • Computer Simulations
  • Control Systems
  • Coordinate Systems
  • Directional
  • Dynamics
  • Engineering
  • Equations
  • Equations Of Motion
  • Guidance
  • Line Of Sight
  • Marine Engineering
  • Mathematical Models
  • Models
  • Naval Architecture
  • Nonlinear Dynamics
  • Unmanned Vehicles

Readers

  • Marine Hydrodynamics
  • Robotics and Automation.
  • Structural Dynamics.