Control of Ships and Underwater Vehicles
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...
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| Format: | Book |
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Springer
2009
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| Online Access: | http://www.springer.com/gp/book/9781848827295 http://hdl.handle.net/20.500.11937/40215 |
| _version_ | 1848755806849204224 |
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| author | Do, Khac Duc |
| author_facet | Do, Khac Duc |
| author_sort | Do, Khac Duc |
| building | Curtin Institutional Repository |
| collection | Online Access |
| 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. 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. |
| first_indexed | 2025-11-14T09:02:10Z |
| format | Book |
| id | curtin-20.500.11937-40215 |
| institution | Curtin University Malaysia |
| institution_category | Local University |
| last_indexed | 2025-11-14T09:02:10Z |
| publishDate | 2009 |
| publisher | Springer |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | curtin-20.500.11937-402152017-09-13T14:00:16Z Control of Ships and Underwater Vehicles Do, Khac Duc 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. 2009 Book http://hdl.handle.net/20.500.11937/40215 10.1007/978-1-84882-730-1 http://www.springer.com/gp/book/9781848827295 Springer restricted |
| spellingShingle | Do, Khac Duc Control of Ships and Underwater Vehicles |
| title | Control of Ships and Underwater Vehicles |
| title_full | Control of Ships and Underwater Vehicles |
| title_fullStr | Control of Ships and Underwater Vehicles |
| title_full_unstemmed | Control of Ships and Underwater Vehicles |
| title_short | Control of Ships and Underwater Vehicles |
| title_sort | control of ships and underwater vehicles |
| url | http://www.springer.com/gp/book/9781848827295 http://hdl.handle.net/20.500.11937/40215 |