Control of Ships and Underwater Vehicles : Design for Underactuated and Nonlinear Marine Systems Hardback
by Khac Duc Do, Jie Pan
Part of the Advances in Industrial Control series
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.
- Format: Hardback
- Pages: 401 pages, 2 Tables, black and white; XVII, 401 p.
- Publisher: Springer London Ltd
- Publication Date: 24/08/2009
- Category: Automatic control engineering
- ISBN: 9781848827295
- PDF from £110.08