Overview
- Covers both basic and advanced techniques for marine vehicle control
- Includes examples, software codes and end of chapter problems
- Develops concepts progressively to stimulate readers’ intuition and promote active participation
Part of the book series: Springer Series on Naval Architecture, Marine Engineering, Shipbuilding and Shipping (NAMESS, volume 9)
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Table of contents (12 chapters)
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Front Matter
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Back Matter
Keywords
- Linear Time Invariant Systems
- Lyapunov Stability
- Nonlinear Stability
- Time Invariant Nonlinear Systems
- Time Varying Nonlinear Systems
- State Space Control
- Observer Design
- Disturbance Observer Based Control
- Integrator Backstepping
- Dynamic Surface Control
- MIMO and SISO Systems
- Feedback Linearization
- Sliding Mode Control
- Adaptive Control
- Nonlinear Control
- Underactuated Vehicle
- Motion Planning
- Trajectory Tracking
- Path Following
- Actuator Constraints
About this book
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.
Authors and Affiliations
About the author
Bibliographic Information
Book Title: Control of Marine Vehicles
Authors: Karl Dietrich von Ellenrieder
Series Title: Springer Series on Naval Architecture, Marine Engineering, Shipbuilding and Shipping
DOI: https://doi.org/10.1007/978-3-030-75021-3
Publisher: Springer Cham
eBook Packages: Engineering, Engineering (R0)
Copyright Information: Springer Nature Switzerland AG 2021
Hardcover ISBN: 978-3-030-75020-6Published: 22 June 2021
Softcover ISBN: 978-3-030-75023-7Published: 23 June 2022
eBook ISBN: 978-3-030-75021-3Published: 21 June 2021
Series ISSN: 2194-8445
Series E-ISSN: 2194-8453
Edition Number: 1
Number of Pages: XV, 533
Number of Illustrations: 187 b/w illustrations, 76 illustrations in colour
Topics: Mechanical Engineering, Control and Systems Theory, User Interfaces and Human Computer Interaction, Automotive Engineering