HOPF Bifurcations in Path Control of Marine Vehicles

摘要

The problem of loss of stability of marine vehicles under cross track control inthe presence of mathematical versus actual system mismatch is analyzed. Emphasis is placed on studying the response of the system after initial loss of stability of straight line motion. Center manifold reduction and integral averaging techniques are used in order to study the bifurcations to periodic solutions and stability of the resulting limit cycles. Numerical integrations are utilized to confirm the theoretical results and to establish regions of asymptotic stability. The methods used in this work demonstrate the significance of nonlinear terms in assessing the final response of the system....Hopf bifurcation, Supercritical, Subcritical, Center manifold theorem, Limit cycle, Periodic solutions, Marine vehicle control.