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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    Title :

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


    Contributors:

    Publication date :

    1993


    Size :

    80 pages


    Type of media :

    Report


    Type of material :

    No indication


    Language :

    English






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