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Control of Ships and Underwater Vehicles: Design for Underactuated and Nonlinear

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Item specifics

Condition: Brand New: A new, unread, unused book in perfect condition with no missing or damaged pages. See all condition definitionsopens in a new window or tab

ISBN-13: 9781447126720

Book Title: Control of Ships and Underwater Vehicles

ISBN: 9781447126720

Subject Area: Transportation, Technology & Engineering, Science

Publication Name: Control of Ships and Underwater Vehicles : Design for Underactuated and Nonlinear Marine Systems

Publisher: Springer London, The Limited

Item Length: 9.3 in

Subject: Navigation, Mechanics / Dynamics, Mechanical, Electrical, Ships & Shipbuilding / General, Civil / General

Publication Year: 2012

Series: Advances in Industrial Control Ser.

Type: Textbook

Format: Trade Paperback

Language: English

Item Height: 0.3 in

Author: Springer, Jie Pan, Khac Duc Do

Item Weight: 22.6 Oz

Item Width: 6.1 in

Number of Pages: Xvii, 401 Pages

About this product

Product Identifiers

Publisher

Springer London, The Limited

ISBN-10

1447126726

ISBN-13

9781447126720

eBay Product ID (ePID)

154362719

Product Key Features

Number of Pages

Xvii, 401 Pages

Publication Name

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

Language

English

Publication Year

2012

Subject

Navigation, Mechanics / Dynamics, Mechanical, Electrical, Ships & Shipbuilding / General, Civil / General

Type

Textbook

Author

Springer, Jie Pan, Khac Duc Do

Subject Area

Transportation, Technology & Engineering, Science

Series

Advances in Industrial Control Ser.

Format

Trade Paperback

Dimensions

Item Height

0.3 in

Item Weight

22.6 Oz

Item Length

9.3 in

Item Width

6.1 in

Additional Product Features

Intended Audience

Scholarly & Professional

Number of Volumes

1 vol.

Illustrated

Yes

Table Of Content

Mathematical Tools.- Mathematical Preliminaries.- Modeling and Control Properties of Ocean Vessels.- Modeling of Ocean Vessels.- Control Properties and Previous Work on Control of Ocean Vessels.- Control of Underactuated Ships.- Trajectory-tracking 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 Serret-Frenet Coordinates.- Path-following of Underactuated Ships Using Polar Coordinates.- Control of Underactuated Underwater Vehicles.- Trajectory-tracking Control of Underactuated Underwater Vehicles.- Path-following of Underactuated Underwater Vehicles.- Control of Other Underactuated Mechanical Systems.- Control of Other Underactuated Mechanical Systems.- Conclusions and Perspectives.

Synopsis

This book offers efficient designs for the implementation of controllers on underactuated ocean vessels as well as numerical simulations and real-time implementations of the control systems designed on a scale-model ship for each controller., 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., 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 of independent control inputs these vessels give rise to numerous challenges within the area of applied nonlinear control which are of growing concern because of their prevalence. Starting with a review of the necessary 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 building on Lyapunov's direct method, backstepping, and parameter projection techniques. 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 that counter environmental disturbances induced by wind, waves and ocean currents; - efficient designs for the practical implementation of controllers on underactuated ocean vessels; - extensive 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; and - general methods and strategies for solving nonlinear control problems of other underactuated systems including underactuated land and aerial vehicles. Written for researchers in and practitioners of control engineering applied to marine technology this monograph provides a variety of solutions to advanced feedback control topics of practical significance in underactuated ocean vessels. Its self-contained, from-the-basics style also makes it a useful resource for graduate students in marine control and readers interested in learning through self-study., 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 of independent control inputs these vessels give rise to numerous challenges within the area of applied nonlinear control which are of growing concern because of their prevalence. Starting with a review of the necessary 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 building on Lyapunov's direct method, backstepping, and parameter projection techniques. 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 that counter environmental disturbances induced by wind, waves and ocean currents; * efficient designs for the practical implementation of controllers on underactuated ocean vessels; * extensive 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; and * general methods and strategies for solving nonlinear control problems of other underactuated systems including underactuated land and aerial vehicles. Written for researchers in and practitioners of control engineering applied to marine technology this monograph provides a variety of solutions to advanced feedback control topics of practical significance in underactuated ocean vessels. Its self-contained, from-the-basics style also makes it a useful resource for graduate students in marine control and readers interested in learning through self-study.

LC Classification Number

TJ212-225