Effects of observer dynamics on motion stability of autonomous vehicles

Approved for public release; distribution is unlimited === The problem of loss of stability of marine vehicles under cross track error control in the presence of mathematical versus actual system mismatch is analyzed. For demonstration purposes, variations in the heading angle control gain are studi...

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Bibliographic Details
Main Author:	Olcay, Bülent
Other Authors:	Papoulias, Folis A.
Language:	en_US
Published:	Monterey, California. Naval Postgraduate School 2013
Online Access:	http://hdl.handle.net/10945/28148

id	ndltd-nps.edu-oai-calhoun.nps.edu-10945-28148
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spelling	ndltd-nps.edu-oai-calhoun.nps.edu-10945-281482015-05-21T16:02:10Z Effects of observer dynamics on motion stability of autonomous vehicles Olcay, Bülent Papoulias, Folis A. Naval Postgraduate School Naval Postgraduate School Mechanical Engineering Approved for public release; distribution is unlimited The problem of loss of stability of marine vehicles under cross track error control in the presence of mathematical versus actual system mismatch is analyzed. For demonstration purposes, variations in the heading angle control gain are studied. Particular emphasis is placed on analyzing the effects of observer design on system response after initial loss of stability of straight line motion. It is shown that the dynamics of the observer may have a significant effect on the computed gain margin of the control system depending on the particular basis used 2013-02-15T23:31:17Z 2013-02-15T23:31:17Z 1994-06 Thesis http://hdl.handle.net/10945/28148 en_US Monterey, California. Naval Postgraduate School
collection	NDLTD
language	en_US
sources	NDLTD
description	Approved for public release; distribution is unlimited === The problem of loss of stability of marine vehicles under cross track error control in the presence of mathematical versus actual system mismatch is analyzed. For demonstration purposes, variations in the heading angle control gain are studied. Particular emphasis is placed on analyzing the effects of observer design on system response after initial loss of stability of straight line motion. It is shown that the dynamics of the observer may have a significant effect on the computed gain margin of the control system depending on the particular basis used
author2	Papoulias, Folis A.
author_facet	Papoulias, Folis A. Olcay, Bülent
author	Olcay, Bülent
spellingShingle	Olcay, Bülent Effects of observer dynamics on motion stability of autonomous vehicles
author_sort	Olcay, Bülent
title	Effects of observer dynamics on motion stability of autonomous vehicles
title_short	Effects of observer dynamics on motion stability of autonomous vehicles
title_full	Effects of observer dynamics on motion stability of autonomous vehicles
title_fullStr	Effects of observer dynamics on motion stability of autonomous vehicles
title_full_unstemmed	Effects of observer dynamics on motion stability of autonomous vehicles
title_sort	effects of observer dynamics on motion stability of autonomous vehicles
publisher	Monterey, California. Naval Postgraduate School
publishDate	2013
url	http://hdl.handle.net/10945/28148
work_keys_str_mv	AT olcaybulent effectsofobserverdynamicsonmotionstabilityofautonomousvehicles
_version_	1716804146390106112

Effects of observer dynamics on motion stability of autonomous vehicles

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