Control Of Ships And Underwater Vehicles: Design For Underactuated And Nonlinear Marine Systems (Advances In Industrial Control),New

Product 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 oceanvessel 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 oceanvessel control systems with the aim of achieving advanced motion control tasks including stabilization, trajectorytracking, pathtracking and pathfollowing.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 realtime implementations of the control systems designed on a scalemodel ship for each controller developed to illustrate their effectiveness and afford practical guidance. From the Back Cover 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 oceanvessel 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 Lyapunovs direct method, backstepping, and parameter projection techniques. This strategy is then used for the development and analysis of a number of oceanvessel control systems with the aim of achieving advanced motion control tasks including stabilization, trajectorytracking, pathtracking and pathfollowing.Control of Ships and Underwater Vehicles offers the reader: new results in the nonlinear control ofunderactuated 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 realtime implementations of the control systems designed on a scalemodel 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 selfcontained, fromthebasics style also makes it a useful resource for graduate students in marine control and readers interested in learning through selfstudy. About the Author Doctor Dos major contribution to systems and control is his research on control of systems subject to nonholonomic constraints such as underactuated mechanical systems including surface ships, underwater vehicles, mobile robots and aircraft, and control of networks of multiple vehicles. He has made significant contribution to the understanding dynamics and developing novel methods to design controllers for these systems. For nonholonomic systems with strong nonlinear drifts and unknown parameters, he developed a method called 'inputtostate scaling' to design a global asymptotic stabilizer. For land, air and ocean vehicles, he proposed various solutions to the problems of stabilization, trajectorytracking and pathfollowing. He introduced a meth