Control of Ships and Underwater Vehicles Design for Underactuated and Nonlinear Marine Systems /

• Main Authors: Do, Khac Duc. (Author), Pan, Jie. (Author)
• Corporate Author: SpringerLink (Online service)
• Format: Electronic
• Language: English
• Published: London : Springer London, 2009.
• Series: Advances in Industrial Control,
• Subjects: Engineering.; Mechanical engineering.; Ocean engineering.; Control.; Mechanical Engineering.; Offshore Engineering.
• Online Access: https://ezaccess.library.uitm.edu.my/login?url=http://dx.doi.org/10.1007/978-1-84882-730-1

Most ocean vessels are underactuated but control of their motion in the real ocean environment is essential. Control of Ships and Underwater Vehicles concentrates on the control of underactuated ocean vessels both surface and submarine. Having more degrees of freedom to be controlled than the number...

Table of Contents:

• Introduction
• Part I: Mathematical Tools
• Mathematical Preliminaries
• Part II: Modeling and Control Properties of Ocean Vessels
• Modeling of Ocean Vessels
• Control Properties and Previous Work on Control of Ocean Vessels
• Trajectory-tracking Control of Underactuated Ships
• Part III Control of Underactuated 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 SerretFrenet 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.