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).
Stability and Bifurcation of Autonomous Vehicles in the Presence of Positional Information Time Lags
1993
80 pages
Report
No indication
English
'Effects of Positional Information Time Lags on Autonomous Vehicle Guidance and Control'
Online Contents | 1994
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|Elsevier | 1988
|European Patent Office | 2016
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