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    Control of Ships and Underwater Vehicles

    Access Status
    Fulltext not available
    Authors
    Do, Khac Duc
    Date
    2009
    Type
    Book
    
    Metadata
    Show full item record
    Citation
    Do, K.D. 2009. Control of Ships and Underwater Vehicles. London: Springer.
    DOI
    10.1007/978-1-84882-730-1
    Additional URLs
    http://www.springer.com/gp/book/9781848827295
    ISBN
    978-1-84882-729-5
    School
    Department of Mechanical Engineering
    URI
    http://hdl.handle.net/20.500.11937/40215
    Collection
    • Curtin Research Publications
    Abstract

    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.

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