Effects of Positional Information Time Lags on Motion Stability of Autonomous Vehicles

Effects of Positional Information Time Lags on Motion Stability of Autonomous Vehicles

Highly maneuverable ocean going vehicles require quick response, control, and guidance to maintain accurate track keeping characteristics. Ocean vehicles, however, may experience significant lags in their inertial positional information that limit their reaction times. This thesis investigates the e...

Ausführliche Beschreibung

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Bibliographische Detailangaben
1. Verfasser: Venne, Daniel V
Format: Report
Sprache:eng
Schlagworte:
COEFFICIENTS
CONSTANTS
CONTROL
DYNAMICS
FREQUENCY
FREQUENCY RESPONSE
GUIDANCE
HYDRODYNAMICS
OCEANS
REACTION TIME
RESPONSE
SCHOOLS
STABILITY
Submarine Engineering
THESES
TIME
TIME DOMAIN
TRACKS
UNDERWATER
Underwater and Marine Navigation and Guidance
UNDERWATER VEHICLES
VEHICLES
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Beschreibung
Zusammenfassung:Highly maneuverable ocean going vehicles require quick response, control, and guidance to maintain accurate track keeping characteristics. Ocean vehicles, however, may experience significant lags in their inertial positional information that limit their reaction times. This thesis investigates the effects of these lags on guidance and control. The relationship of critical visibility versus the controller time constant and its effect on the stability of the guidance/control scheme is analyzed. Results are presented based on time domain and frequency response techniques using a dynamic model of the Naval Postgraduate School Autonomous Underwater Vehicle 11 (NPS AUV 11), for which a complete set of hydrodynamic coefficients and geometric properties is available.