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Control of Ships and Underwater Vehicles

Author : Khac Duc Do

Publisher : Springer Science & Business Media

Page : 402 pages

File Size : 50,97 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.



Guidance and Control of Ocean Vehicles

Author : Thor I. Fossen

Publisher : John Wiley & Sons

Page : 504 pages

File Size : 30,60 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.



Autonomous Underwater Vehicles

Author : Sabiha Wadoo

Publisher : CRC Press

Page : 165 pages

File Size : 40,25 MB

Release : 2017-12-19

Category : Technology & Engineering

ISBN : 1439818320

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Book Description

Underwater vehicles present some difficult and very particular control system design problems. These are often the result of nonlinear dynamics and uncertain models, as well as the presence of sometimes unforeseeable environmental disturbances that are difficult to measure or estimate. Autonomous Underwater Vehicles: Modeling, Control Design, and Simulation outlines a novel approach to help readers develop models to simulate feedback controllers for motion planning and design. The book combines useful information on both kinematic and dynamic nonlinear feedback control models, providing simulation results and other essential information, giving readers a truly unique and all-encompassing new perspective on design. Includes MATLAB® Simulations to Illustrate Concepts and Enhance Understanding Starting with an introductory overview, the book offers examples of underwater vehicle construction, exploring kinematic fundamentals, problem formulation, and controllability, among other key topics. Particularly valuable to researchers is the book’s detailed coverage of mathematical analysis as it applies to controllability, motion planning, feedback, modeling, and other concepts involved in nonlinear control design. Throughout, the authors reinforce the implicit goal in underwater vehicle design—to stabilize and make the vehicle follow a trajectory precisely. Fundamentally nonlinear in nature, the dynamics of AUVs present a difficult control system design problem which cannot be easily accommodated by traditional linear design methodologies. The results presented here can be extended to obtain advanced control strategies and design schemes not only for autonomous underwater vehicles but also for other similar problems in the area of nonlinear control.



Undersea Vehicles and National Needs

Author : Committee on Undersea Vehicles and National Needs

Publisher : National Academies Press

Page : 114 pages

File Size : 17,92 MB

Release : 1996-12-03

Category : Science

ISBN : 0309588723

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Book Description

The United States faces decisions requiring information about the oceans in vastly expanded scales of time and space and from oceanic sectors not accessible with the suite of tools now used by scientists and engineers. Advances in guidance and control, communications, sensors, and other technologies for undersea vehicles can provide an opportunity to understand the oceans' influence on the energy and chemical balance that sustains humankind and to manage and deliver resources from and beneath the sea. This book assesses the state of undersea vehicle technology and opportunities for vehicle applications in science and industry. It provides guidance about vehicle subsystem development priorities and describes how national research can be focused most effectively.



Autonomous Underwater Vehicles

Author : Frank Ehlers

Publisher : SciTech Publishing

Page : 591 pages

File Size : 12,58 MB

Release : 2020-07-13

Category : Technology & Engineering

ISBN : 1785617036

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Book Description

The recent development of advanced processing capabilities and higher yield power supplies means that Autonomous Underwater Vehicle (AUVs) are finding novel and increasingly advanced applications in research, military and commercial settings.



Advances in Unmanned Marine Vehicles

Author : G.N. Roberts

Publisher : IET

Page : 461 pages

File Size : 48,22 MB

Release : 2006-01-31

Category : Technology & Engineering

ISBN : 0863414508

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Book Description

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.



Control of Marine Vehicles

Author : Karl Dietrich von Ellenrieder

Publisher : Springer Nature

Page : 540 pages

File Size : 23,56 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 : 46,24 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



Manoeuvring and Control of Marine Craft 2003 (MCMC 2003)

Author : Joan Batlle

Publisher : Elsevier

Page : 330 pages

File Size : 21,6 MB

Release : 2004

Category : Science

ISBN : 9780080440330

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Book Description

The papers presented in this volume cover recent progress in applications of new theory on manoeuvring-related problems for surface ships and control and sensor problems for underwater vehicles.



Dynamic Positioning Systems

Author : Hubert Faÿ

Publisher : Editions OPHRYS

Page : 222 pages

File Size : 33,8 MB

Release :

Category : Offshore structures

ISBN : 9782710810674

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Book Description