Accession Number : ADA257742


Title :   Reference Path Generation and Tracking of Marine Vehicles


Descriptive Note : Master's thesis


Corporate Author : NAVAL POSTGRADUATE SCHOOL MONTEREY CA


Personal Author(s) : Panoff, Timothy J


Full Text : https://apps.dtic.mil/dtic/tr/fulltext/u2/a257742.pdf


Report Date : Sep 1992


Pagination or Media Count : 64


Abstract : This thesis analyzes the problem of accurate path keeping for marine vehicles. The reference path is generated automatically through the use of a critically damped second order model. An appropriate shift in the time axis allows a smooth path with zero overshoot regardless of the initial conditions. Control design for the physical system is achieved through the use of optimum control and linear quadratic regulator techniques. Results are presented for general maneuvering scenarios in the horizontal plane and demonstrate the validity of the models used in the research.


Descriptors :   *UNDERWATER VEHICLES , *GENERATORS , *UNDERWATER TRACKING , COMPUTER PROGRAMS , SCENARIOS , MODELS , MOTION , REGULATORS , VEHICLES , EQUATIONS , TIME , THESES , PATHS , EQUATIONS OF MOTION , CONTROL


Subject Categories : Submarine Engineering
      Underwater and Marine Navigation and Guidance


Distribution Statement : APPROVED FOR PUBLIC RELEASE