AUV Steering Parameter Identification for Improved Control Design
AUV Steering Parameter Identification for Improved Control Design

Author: Jay H. Johnson

Publisher:

Published: 2001

Total Pages: 58

ISBN-13:

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Any effort to provide precision control for an Autonomous Underwater Vehicle requires an accurate estimation of both the vehicles physical and hydrodynamic parameters. Here a vehicle model for controlled steering behaviors was developed and the hydrodynamic parameters were calculated from actual data obtained from operation. The steering equation parameters are based on a least squares fit to sideslip and turn rate data using maximum likelihood of batch processing. In this way, a more accurate simulation has been found for the development of a track controller that stably drives the vehicle between mission waypoints. Prediction accuracy of the model was better than ninety-five percent over the data set used.

Advanced, Contemporary Control
Advanced, Contemporary Control

Author: Andrzej Bartoszewicz

Publisher: Springer Nature

Published: 2020-06-24

Total Pages: 1560

ISBN-13: 3030509362

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This book presents the proceedings of the 20th Polish Control Conference. A triennial event that was first held in 1958, the conference successfully combines its long tradition with a modern approach to shed light on problems in control engineering, automation, robotics and a wide range of applications in these disciplines. The book presents new theoretical results concerning the steering of dynamical systems, as well as industrial case studies and worked solutions to real-world problems in contemporary engineering. It particularly focuses on the modelling, identification, analysis and design of automation systems; however, it also addresses the evaluation of their performance, efficiency and reliability. Other topics include fault-tolerant control in robotics, automated manufacturing, mechatronics and industrial systems. Moreover, it discusses data processing and transfer issues, covering a variety of methodologies, including model predictive, robust and adaptive techniques, as well as algebraic and geometric methods, and fractional order calculus approaches. The book also examines essential application areas, such as transportation and autonomous intelligent vehicle systems, robotic arms, mobile manipulators, cyber-physical systems, electric drives and both surface and underwater marine vessels. Lastly, it explores biological and medical applications of the control-theory-inspired methods.

Maritime Technology and Engineering III
Maritime Technology and Engineering III

Author: Carlos Guedes Soares

Publisher: CRC Press

Published: 2016-12-01

Total Pages: 2358

ISBN-13: 1315342650

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Maritime Technology and Engineering 3 is a collection of papers presented at the 3rd International Conference on Maritime Technology and Engineering (MARTECH 2016, Lisbon, Portugal, 4-6 July 2016). The MARTECH Conferences series evolved from biannual national conferences in Portugal, thus reflecting the internationalization of the maritime sector. The keynote lectures and the papers, making up nearly 150 contributions, came from an international group of authors focused on different subjects in a variety of fields: Maritime Transportation, Energy Efficiency, Ships in Ports, Ship Hydrodynamics, Ship Structures, Ship Design, Ship Machinery, Shipyard Technology, afety & Reliability, Fisheries, Oil & Gas, Marine Environment, Renewable Energy and Coastal Structures. Maritime Technology and Engineering 3 will appeal to academics, engineers and professionals interested or involved in these fields.

Computer-Aided Control Systems Design
Computer-Aided Control Systems Design

Author: Cheng Siong Chin

Publisher: CRC Press

Published: 2017-12-19

Total Pages: 384

ISBN-13: 1466568526

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Computer-Aided Control Systems Design: Practical Applications Using MATLAB® and Simulink® supplies a solid foundation in applied control to help you bridge the gap between control theory and its real-world applications. Working from basic principles, the book delves into control systems design through the practical examples of the ALSTOM gasifier system in power stations and underwater robotic vehicles in the marine industry. It also shows how powerful software such as MATLAB® and Simulink® can aid in control systems design. Make Control Engineering Come Alive with Computer-Aided Software Emphasizing key aspects of the design process, the book covers the dynamic modeling, control structure design, controller design, implementation, and testing of control systems. It begins with the essential ideas of applied control engineering and a hands-on introduction to MATLAB and Simulink. It then discusses the analysis, model order reduction, and controller design for a power plant and the modeling, simulation, and control of a remotely operated vehicle (ROV) for pipeline tracking. The author explains how to obtain the ROV model and verify it by using computational fluid dynamic software before designing and implementing the control system. In addition, the book details the nonlinear subsystem modeling and linearization of the ROV at vertical plane equilibrium points. Throughout, the author delineates areas for further study. Appendices provide additional information on various simulation models and their results. Learn How to Perform Simulations on Real Industry Systems A step-by-step guide to computer-aided applied control design, this book supplies the knowledge to help you deal with control problems in industry. It is a valuable reference for anyone who wants a better understanding of the theory and practice of basic control systems design, analysis, and implementation.

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