Effects of Observer Dynamics on Motion Stability of Autonomous Vehicles.

摘要

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. Hopf bifurcation, Supercritical, Center manifold theorem, Limit cycle, Periodic solutions.