Control of Marine Vehicles
Control of Marine Vehicles

Author: Karl Dietrich von Ellenrieder

Publisher: Springer Nature

Published: 2021-06-21

Total Pages: 540

ISBN-13: 3030750213

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This textbook offers a comprehensive introduction to the control of marine vehicles, from fundamental to advanced concepts, including robust control techniques for handling model uncertainty, environmental disturbances, and actuator limitations. Starting with an introductory chapter that extensively reviews automatic control and dynamic modeling techniques for ocean vehicles, the first part of the book presents in-depth information on the analysis and control of linear time invariant systems. The concepts discussed are developed progressively, providing a basis for understanding more complex techniques and stimulating readers’ intuition. In addition, selected examples illustrating the main concepts, the corresponding MATLAB® code, and problems are included in each chapter. In turn, the second part of the book offers comprehensive coverage on the stability and control of nonlinear systems. Following the same intuitive approach, it guides readers from the fundamentals to more advanced techniques, which culminate in integrator backstepping, adaptive and sliding mode control. Leveraging the author’s considerable teaching and research experience, the book offers a good balance of theory and stimulating questions. Not only does it provide a valuable resource for undergraduate and graduate students; it will also benefit practitioners who want to review the foundational concepts underpinning some of the latest advanced marine vehicle control techniques, for use in their own applications.

Control of Ships and Underwater Vehicles
Control of Ships and Underwater Vehicles

Author: Khac Duc Do

Publisher: Springer Science & Business Media

Published: 2009-08-09

Total Pages: 402

ISBN-13: 184882730X

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Most ocean vessels are underactuated but control of their motion in the real ocean environment is essential. Starting with a review of the background on ocean-vessel dynamics and nonlinear control theory, the authors’ systematic approach is based on various nontrivial coordinate transformations coupled with advanced nonlinear control design methods. This strategy is then used for the development and analysis of a number of ocean-vessel control systems with the aim of achieving advanced motion control tasks including stabilization, trajectory-tracking, path-tracking and path-following. Control of Ships and Underwater Vehicles offers the reader: - new results in the nonlinear control of underactuated ocean vessels; - efficient designs for the implementation of controllers on underactuated ocean vessels; - numerical simulations and real-time implementations of the control systems designed on a scale-model ship for each controller developed to illustrate their effectiveness and afford practical guidance.

Guidance and Control of Ocean Vehicles
Guidance and Control of Ocean Vehicles

Author: Thor I. Fossen

Publisher: John Wiley & Sons

Published: 1994-09-20

Total Pages: 504

ISBN-13:

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A comprehensive and extensive study of the latest research in control systems for marine vehicles. Demonstrates how the implementation of mathematical models and modern control theory can reduce fuel consumption and improve reliability and performance. Coverage includes ocean vehicle modeling, environmental disturbances, the dynamics and stability of ships, sensor and navigation systems. Numerous examples and exercises facilitate understanding.

Navigation and Control of Autonomous Marine Vehicles
Navigation and Control of Autonomous Marine Vehicles

Author: Sanjay Sharma

Publisher: Institution of Engineering and Technology

Published: 2019-06-26

Total Pages: 348

ISBN-13: 1785613383

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Robotic marine vessels can be used for a wide range of purposes, including defence, marine science, offshore energy and hydrographic surveys, and environmental surveys and protection. Such vessels need to meet a variety of criteria: they must be able to operate in salt water, and to communicate and be controlled over large distances, even when submerged or in inclement weather. Further challenges include 3D navigation of individual vehicles, groups or squadrons. This book covers the current state of research in navigation, modelling and control of marine autonomous vehicles, and deals with various related topics, including collision avoidance, communication, and a range of applications. It provides valuable insights for an audience of researchers, academics and postgraduate students interested in autonomous marine vessels, robotics, and electrical and automobile engineering.

Advances in Unmanned Marine Vehicles
Advances in Unmanned Marine Vehicles

Author: G.N. Roberts

Publisher: IET

Published: 2006-01-31

Total Pages: 461

ISBN-13: 0863414508

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Unmanned marine vehicles (UMVs) include autonomous underwater vehicles, remotely operated vehicles, semi-submersibles and unmanned surface craft. Considerable importance is being placed on the design and development of such vehicles, as they provide cost-effective solutions to a number of littoral, coastal and offshore problems. This book highlights the advanced technology that is evolving to meet the challenges being posed in this exciting and growing area of research.

Sensing and Control for Autonomous Vehicles
Sensing and Control for Autonomous Vehicles

Author: Thor I. Fossen

Publisher: Springer

Published: 2017-05-26

Total Pages: 513

ISBN-13: 3319553720

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This edited volume includes thoroughly collected on sensing and control for autonomous vehicles. Guidance, navigation and motion control systems for autonomous vehicles are increasingly important in land-based, marine and aerial operations. Autonomous underwater vehicles may be used for pipeline inspection, light intervention work, underwater survey and collection of oceanographic/biological data. Autonomous unmanned aerial systems can be used in a large number of applications such as inspection, monitoring, data collection, surveillance, etc. At present, vehicles operate with limited autonomy and a minimum of intelligence. There is a growing interest for cooperative and coordinated multi-vehicle systems, real-time re-planning, robust autonomous navigation systems and robust autonomous control of vehicles. Unmanned vehicles with high levels of autonomy may be used for safe and efficient collection of environmental data, for assimilation of climate and environmental models and to complement global satellite systems. The target audience primarily comprises research experts in the field of control theory, but the book may also be beneficial for graduate students.

Handbook of Marine Craft Hydrodynamics and Motion Control
Handbook of Marine Craft Hydrodynamics and Motion Control

Author: Thor I. Fossen

Publisher: John Wiley & Sons

Published: 2021-04-16

Total Pages: 96

ISBN-13: 1119575036

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Handbook of MARINE CRAFT HYDRODYNAMICS AND MOTION CONTROL The latest tools for analysis and design of advanced GNC systems Handbook of Marine Craft Hydrodynamics and Motion Control is an extensive study of the latest research in hydrodynamics, guidance, navigation, and control systems for marine craft. The text establishes how the implementation of mathematical models and modern control theory can be used for simulation and verification of control systems, decision-support systems, and situational awareness systems. Coverage includes hydrodynamic models for marine craft, models for wind, waves and ocean currents, dynamics and stability of marine craft, advanced guidance principles, sensor fusion, and inertial navigation. This important book includes the latest tools for analysis and design of advanced GNC systems and presents new material on unmanned underwater vehicles, surface craft, and autonomous vehicles. References and examples are included to enable engineers to analyze existing projects before making their own designs, as well as MATLAB scripts for hands-on software development and testing. Highlights of this Second Edition include: Topical case studies and worked examples demonstrating how you can apply modeling and control design techniques to your own designs A Github repository with MATLAB scripts (MSS toolbox) compatible with the latest software releases from Mathworks New content on mathematical modeling, including models for ships and underwater vehicles, hydrostatics, and control forces and moments New methods for guidance and navigation, including line-of-sight (LOS) guidance laws for path following, sensory systems, model-based navigation systems, and inertial navigation systems This fully revised Second Edition includes innovative research in hydrodynamics and GNC systems for marine craft, from ships to autonomous vehicles operating on the surface and under water. Handbook of Marine Craft Hydrodynamics and Motion Control is a must-have for students and engineers working with unmanned systems, field robots, autonomous vehicles, and ships. MSS toolbox: https://github.com/cybergalactic/mss Lecture notes: https://www.fossen.biz/wiley Author’s home page: https://www.fossen.biz

Network-Based Control of Unmanned Marine Vehicles
Network-Based Control of Unmanned Marine Vehicles

Author: Yu-Long Wang

Publisher: Springer Nature

Published: 2023-05-02

Total Pages: 212

ISBN-13: 3031286057

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This book presents a comprehensive analysis of stability, stabilization, and fault detection in networked control systems, with a focus on unmanned marine vehicles. It investigates the challenges of network-based control in areas like heading control, fault detection filter and controller design, dynamic positioning, and cooperative target tracking. Communication networks in control systems can induce delays and dropouts, so the book presents the importance of stability analysis, stabilize, and fault detection. To help readers gain a deeper understanding of these concepts, the book provides fundamental concepts and real-world examples. This book is a valuable resource for researchers and practitioners working in the field of network-based control for unmanned marine vehicles.

Hydrodynamics of High-Speed Marine Vehicles
Hydrodynamics of High-Speed Marine Vehicles

Author: Odd M. Faltinsen

Publisher: Cambridge University Press

Published: 2006-01-09

Total Pages: 490

ISBN-13: 1139447939

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Hydrodynamics of High-Speed Marine Vehicles, first published in 2006, discusses the three main categories of high-speed marine vehicles - vessels supported by submerged hulls, air cushions or foils. The wave environment, resistance, propulsion, seakeeping, sea loads and manoeuvring are extensively covered based on rational and simplified methods. Links to automatic control and structural mechanics are emphasized. A detailed description of waterjet propulsion is given and the effect of water depth on wash, resistance, sinkage and trim is discussed. Chapter topics include resistance and wash; slamming; air cushion-supported vessels, including a detailed discussion of wave-excited resonant oscillations in air cushion; and hydrofoil vessels. The book contains numerous illustrations, examples and exercises.

Maneuvering and Control of Marine Vehicles
Maneuvering and Control of Marine Vehicles

Author: Michael S. Triantafyllou

Publisher:

Published: 2003

Total Pages: 152

ISBN-13:

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This course is about maneuvering motions of surface and underwater vehicles. Topics covered include: derivation of equations of motion, hydrodynamic coefficients, memory effects, linear and nonlinear forms of the equations of motion, control surfaces modeling and design, engine, propulsor and transmission systems modeling and simulation during maneuvering. The course also deals with stability of motion, principles of multivariable automatic control, optimal control, Kalman filtering and loop transfer recovery. We will also explore applications chosen from autopilots for surface vehicles; towing in open seas; and remotely operated vehicles.