Stability and bifurcation of autonomous vehicles in the presence of positional information time lags

Stability and bifurcation of autonomous vehicles in the presence of positional information time lags

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....

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Main Author: Cummings, George P.
Other Authors: Fotis A. Papoulias
Language:en_US
Published: Monterey, California. Naval Postgraduate School 2013
Online Access:http://hdl.handle.net/10945/26264
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spelling ndltd-nps.edu-oai-calhoun.nps.edu-10945-262642014-11-27T16:16:15Z Stability and bifurcation of autonomous vehicles in the presence of positional information time lags Cummings, George P. Fotis A. Papoulias NA NA Mechanical Engineering 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) 2013-01-23T21:57:10Z 2013-01-23T21:57:10Z 1993-09 Thesis http://hdl.handle.net/10945/26264 o640608064 en_US Monterey, California. Naval Postgraduate School
collection NDLTD
language en_US
sources NDLTD
description 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)
author2 Fotis A. Papoulias
author_facet Fotis A. Papoulias
Cummings, George P.
author Cummings, George P.
spellingShingle Cummings, George P.
Stability and bifurcation of autonomous vehicles in the presence of positional information time lags
author_sort Cummings, George P.
title Stability and bifurcation of autonomous vehicles in the presence of positional information time lags
title_short Stability and bifurcation of autonomous vehicles in the presence of positional information time lags
title_full Stability and bifurcation of autonomous vehicles in the presence of positional information time lags
title_fullStr Stability and bifurcation of autonomous vehicles in the presence of positional information time lags
title_full_unstemmed Stability and bifurcation of autonomous vehicles in the presence of positional information time lags
title_sort stability and bifurcation of autonomous vehicles in the presence of positional information time lags
publisher Monterey, California. Naval Postgraduate School
publishDate 2013
url http://hdl.handle.net/10945/26264
work_keys_str_mv AT cummingsgeorgep stabilityandbifurcationofautonomousvehiclesinthepresenceofpositionalinformationtimelags
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