Control of ships and underwater vehicles: design for underactuated and nonlinear marine systems

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 UnderwaterVehicles 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. INDICE: Introduction.- Part I: Mathematical Tools.- Mathematical Preliminaries.- Part II: Modeling and Control Properties of Ocean Vessels.- Modeling ofOcean Vessels.- Control Properties and Previous Work on Control of Ocean Vessels.- Trajectory-tracking Control of Underactuated Ships.- Part III Control ofUnderactuated Ships.- Simultaneous Stabilization and Trajectory-tracking Control of Underactuated Ships.- Partial State- and Output-feedback Trajectory-tracking Control of Underactuated Ships.- Path-tracking Control of Underactuated Ships.- Way-point Tracking Control of Underactuated Ships.- Path-following of Underactuated Ships Using Serret–Frenet Coordinates.- Path-following of Underactuated Ships Using Polar Coordinates.- Part IV: Control of Underacuated Underwater Vehicles.- Trajectory-tracking Control of Underacuated Underwater Vehicles.- Path-following of Underactuated Underwater Vehicles.- Part V: Control of Other Underactuated Mechanical Systems.- Control of Other Underactuated Mechanical Systems.- Conclusions and Perspectives.

• ISBN: 978-1-84882-729-5
• Editorial: Springer
• Encuadernacion: Cartoné
• Páginas: 400
• Fecha Publicación: 01/09/2009
• Nº Volúmenes: 1
• Idioma: Inglés