Accession Number : ADA257878


Title :   Stability of Turning Rate Guidance and Control Laws for Autonomous Vehicles


Descriptive Note : Masters's thesis


Corporate Author : NAVAL POSTGRADUATE SCHOOL MONTEREY CA


Personal Author(s) : Kapelios, Ioannis


Full Text : https://apps.dtic.mil/dtic/tr/fulltext/u2/a257878.pdf


Report Date : Jun 1992


Pagination or Media Count : 48


Abstract : The problem of turning rate guidance and control for autonomous vehicles is analyzed. Control design is based on the dynamic equations of motion for lateral motions, sway and yaw, while guidance design is based on the kinematics. Analytical conditions are derived that enable the two schemes to operate simultaneously without loss of stability. The results are verified by direct numerical integrations of the equations of motion.


Descriptors :   *STABILITY , *CONTROL SYSTEMS , *UNDERWATER VEHICLES , *GUIDANCE , *AUTONOMOUS NAVIGATION , KINEMATICS , EQUATIONS OF MOTION , EQUATIONS , CONTROL TEST VEHICLES , AUTOMATIC , DYNAMICS , ENERGY , MOTION , RATES , THESES , INTEGRATION


Subject Categories : Submarine Engineering
      Underwater and Marine Navigation and Guidance


Distribution Statement : APPROVED FOR PUBLIC RELEASE