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Control of Marine Vehicles

Author : Karl Dietrich von Ellenrieder

Publisher : Springer Nature

Page : 540 pages

File Size : 35,64 MB

Release : 2021-06-21

Category : Technology & Engineering

ISBN : 3030750213

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Book Description

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.



Handbook of Marine Craft Hydrodynamics and Motion Control

Author : Thor I. Fossen

Publisher : John Wiley & Sons

Page : 96 pages

File Size : 49,96 MB

Release : 2021-04-16

Category : Science

ISBN : 1119575036

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Book Description

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



Control of Ships and Underwater Vehicles

Author : Khac Duc Do

Publisher : Springer Science & Business Media

Page : 402 pages

File Size : 11,46 MB

Release : 2009-08-09

Category : Technology & Engineering

ISBN : 184882730X

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Book Description

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.



Marine Control Technology

Author : J. Majumder

Publisher :

Page : 336 pages

File Size : 18,34 MB

Release : 2007-11-21

Category : Marine engineering

ISBN : 9788184043136

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Book Description

The shipping industry has been growing in leaps and bounds over the past few decades. The answer to reduced manning, together with demanding operating schedules, has more often than not been automation. Hence the need of the hour for a seafarer is adequate knowledge of UMS environments and their supporting systems onboard ships. With almost 30 years of first-hand experience by each of us in this mammoth industry, we have seen the evolution from control elements and systems of the post 2nd world- war era to the most sophisticated components and networks available today. It has indeed been a wonderful journey through time! These experiences have been our guiding light; they have prompted us to share our acquired knowledge with our counterparts and students of the maritime industry.



Reeds Vol 10: Instrumentation and Control Systems

Author : Gordon Boyd

Publisher : A&C Black

Page : 361 pages

File Size : 22,50 MB

Release : 2013-10-11

Category : Technology & Engineering

ISBN : 1408175606

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Book Description

This is a fully revised, new edition on the topic of instrumentation and control systems and their application to marine engineering for professional trainees studying Merchant Navy Marine Engineering Certificates of Competency (CoC) as well as Electrical/Marine Engineering undergraduate students. Providing generic technical and practical descriptions of the operation of instrumentation and control devices and systems, this volume also contains mathematic analysis where appropriate. Addressing this subject area, the domain of Instrumentation Engineers/Technicians as well as Control Engineers, and covering established processes and protocols and extensive developing technology, this textbook is written with the marine engineer in mind, particularly those studying Engineering Knowledge. The content ranges from simple measurement devices, through signal conditioning and digitisation to highly sophisticated automated control and instrumentation systems. It also includes a brand new section on electrical equipment in hazardous areas detailing hazards, gas groups, temperature classifications and types of protection including increased and intrinsic safety and encapsulation, and up-to-date material on the new generation of Liquified Natural Gas carriers, SMART sensors and protocols, as well as computer based systems.



Advanced Control Systems

Author : Yuriy P. Kondratenko

Publisher : CRC Press

Page : 476 pages

File Size : 34,39 MB

Release : 2022-09-01

Category : Technology & Engineering

ISBN : 1000794067

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Book Description

Advanced Control Systems: Theory and Applications provides an overview of advanced research lines in control systems as well as in design, development and implementation methodologies for perspective control systems and their components in different areas of industrial and special applications. It consists of extended versions of the selected papers presented at the XXV International Conference on Automatic Control “Automatics 2018” (September 18-19, 2018, Lviv, Ukraine) which is the main Ukrainian Control Conference organized by Ukrainian Association on Automatic Control (National member organization of IFAC) and Lviv National University “Lvivska Politechnica”. More than 100 papers were presented at the conference with topics including: mathematical problems of control, optimization and game theory; control and identification under uncertainty; automated control of technical, technological and biotechnical objects; controlling the aerospace craft, marine vessels and other moving objects; intelligent control and information processing; mechatronics and robotics; information measuring technologies in automation; automation and IT training of personnel; the Internet of things and the latest technologies. The book is divided into two main parts, the first concerning theory (7 chapters) and the second concerning applications (7 chapters) of advanced control systems. The first part “Advances in Theoretical Research on Automatic Control” consists of theoretical research results which deal with descriptor control impulsive delay systems, motion control in condition of conflict, inverse dynamic models, invariant relations in optimal control, robust adaptive control, bio-inspired algorithms, optimization of fuzzy control systems, and extremal routing problem with constraints and complicated cost functions. The second part “Advances in Control Systems Applications” is based on the chapters which consider different aspects of practical implementation of advanced control systems, in particular, special cases in determining the spacecraft position and attitude using computer vision system, the spacecraft orientation by information from a system of stellar sensors, control synthesis of rotational and spatial spacecraft motion at approaching stage of docking, intelligent algorithms for the automation of complex biotechnical objects, an automatic control system for the slow pyrolysis of organic substances with variable composition, simulation complex of hierarchical systems based on the foresight and cognitive modelling, and advanced identification of impulse processes in cognitive maps. The chapters have been structured to provide an easy-to-follow introduction to the topics that are addressed, including the most relevant references, so that anyone interested in this field can get started in the area. This book may be useful for researchers and students who are interesting in advanced control systems.



Guidance and Control of Ocean Vehicles

Author : Thor I. Fossen

Publisher : John Wiley & Sons

Page : 504 pages

File Size : 29,64 MB

Release : 1994-09-20

Category : Sports & Recreation

ISBN :

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Book Description

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.



New Technologies for Emission Control in Marine Diesel Engines

Author : Masaaki Okubo

Publisher : Butterworth-Heinemann

Page : 298 pages

File Size : 45,58 MB

Release : 2019-08-29

Category : Technology & Engineering

ISBN : 0128123087

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Book Description

New Technologies for Emission Control in Marine Diesel Engines provides a unique overview on marine diesel engines and aftertreatment technologies that is based on the authors' extensive experience in research and development of emission control systems, especially plasma aftertreatment systems. The book covers new and updated technologies, such as combustion improvement and after treatment, SCR, the NOx reduction method, Ox scrubber, DPF, Electrostatic precipitator, Plasma PM decomposition, Plasma NOx reduction, and the Exhaust gas recirculation method. This comprehensive resource is ideal for marine engineers, engine manufacturers and consultants dealing with the development and implementation of aftertreatment systems in marine engines. - Includes recent advances and future trends of marine engines - Discusses new and innovative emission technologies for marine diesel engines and their regulations - Covers aftertreatment technologies that are not widely applied, such as catalysts, SCR, DPF and plasmas



Handbook of Marine Craft Hydrodynamics and Motion Control

Author : Thor I. Fossen

Publisher : John Wiley & Sons

Page : 596 pages

File Size : 23,85 MB

Release : 2011-05-23

Category : Science

ISBN : 1119991498

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Book Description

The technology of hydrodynamic modeling and marine craft motion control systems has progressed greatly in recent years. This timely survey includes the latest tools for analysis and design of advanced guidance, navigation and control systems and presents new material on underwater vehicles and surface vessels. Each section presents numerous case studies and applications, providing a practical understanding of how model-based motion control systems are designed. Key features include: a three-part structure covering Modeling of Marine Craft; Guidance, Navigation and Control Systems; and Appendices, providing all the supporting theory in a single resource kinematics, kinetics, hydrostatics, seakeeping and maneuvering theory, and simulation models for marine craft and environmental forces guidance systems, sensor fusion and integrated navigation systems, inertial measurement units, Kalman filtering and nonlinear observer design for marine craft state-of-the-art methods for feedback control more advanced methods using nonlinear theory, enabling the user to compare linear design techniques before a final implementation is made. linear and nonlinear stability theory, and numerical methods companion website that hosts links to lecture notes and download information for the Marine Systems Simulator (MSS) which is an open source Matlab/Simulink® toolbox for marine systems. The MSS toolbox includes hydrodynamic models and motion control systems for ships, underwater vehicles and floating structures With an appropriate balance between mathematical theory and practical applications, academic and industrial researchers working in marine and control engineering aspects of manned and unmanned maritime vehicles will benefit from this comprehensive handbook. It is also suitable for final year undergraduates and postgraduates, lecturers, development officers, and practitioners in the areas of rigid-body modeling, hydrodynamics, simulation of marine craft, control and estimation theory, decision-support systems and sensor fusion. www.wiley.com/go/fossen_marine



Marine Electrical Technology, 4/e H/C

Author : Elstan A Fernandez

Publisher :

Page : 1250 pages

File Size : 37,87 MB

Release : 2004-08-17

Category :

ISBN : 9788184044027

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Book Description

The Book has been thoroughly revised, keeping in mind the rapid technological advances in this mammoth industry and also the feedback received from various quarters. Relevant extracts from current SOLAS. IACS, Lloyd's Register, DNV and ABS Rules, have been included with permission. However, these must be used only for academic purposes. Relevant current documents onboard ships musl be referred to, for the purpose of complying with Classification Societies' and other Statutory Requirements.