Control of Ships and Underwater Vehicles: Design for Underactuated and Nonlinear Marine Systems 2009th Edition

Ebook Details

Authors Khac Duc Do, Jie Pan
Year 2009
Pages 401
Publisher Springer
Language en
ISBN 9781848827295
File Size 4.78 MB
File Format PDF
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Ebook Description

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.