Guidance and Control of Ocean VehiclesA 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. |
Contents
Modeling of Marine Vehicles | 5 |
Environmental Disturbances | 57 |
Stability and Control of Underwater Vehicles | 93 |
Copyright | |
9 other sections not shown
Common terms and phrases
1st-order wave 2nd-order acceleration actuator added mass air cushion algorithm applying assume autopilot b₁ Bode plot body-fixed closed-loop coefficients components computed constant control law damping damping ratio defined described dynamically positioned earth-fixed equations of motion error dynamics Euler Euler angles expression feedback feedback linearization FoilCat forces and moments Fossen frequency gain Hence hydrodynamic hydrodynamic derivatives implies inertia input K₁ Kalman filter kinematic linear Lyapunov Lyapunov function Lyapunov stability maneuver marine vehicles matrix measured modes Nomoto non-dimensional nonlinear obtained optimal control output parameter estimation PID-control pitch positive propeller rad/s reference frame reference model ride control system roll rudder angle Section sensor shown in Figure simulation stability surge sway and yaw theory thrust thruster transfer function underwater vehicles vector velocity vessel wave disturbances wind yaw angle yields zero ψα ΨΗ