ON THE NONLINEAR DYNAMICS OF PURSUIT GUIDANCE FOR MARINE VEHICLES

A theoretical analysis of the nonlinear dynamic phenomena involved in pure pursuit guidance of marine vehicles is performed. Nomoto's model (Crane et al 1989) is used to provide the basis for the main vehicle t urning lag. Results obtained in closed-form expressions demonstrate th e existence of bifurcations to periodic solutions. The center manifold of the system is evaluated to within a third-order approximation. Thi rd- and fifth-order expansions are utilized in order to provide inform ation on limit cycle existence and stability. Recommendations regardin g the appropriate selection of control design parameters are provided.