Control Of Ships And Underwater Vehicles

Author : Khac Duc Do,Jie Pan
Publisher : Springer Science & Business Media
Page : 402 pages
File Size : 44,6 Mb
Release : 2009-08-09
Category : Technology & Engineering
ISBN : 9781848827301

Get Book

Control of Ships and Underwater Vehicles by Khac Duc Do,Jie Pan Pdf

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.

Author : Thor I. Fossen
Publisher : John Wiley & Sons
Page : 504 pages
File Size : 44,7 Mb
Release : 1994-09-20
Category : Sports & Recreation
ISBN : UOM:39015058321566

Get Book

Guidance and Control of Ocean Vehicles by Thor I. Fossen Pdf

A comprehensive and extensive study of the latest research in control systems for marine vehicles. Demonstrates how the implementation of mathematical models and modern control theory can reduce fuel consumption and improve reliability and performance. Coverage includes ocean vehicle modeling, environmental disturbances, the dynamics and stability of ships, sensor and navigation systems. Numerous examples and exercises facilitate understanding.

Author : Ge Guo,Zhenyu Gao,Pengfei Zhang
Publisher : Springer Nature
Page : 244 pages
File Size : 54,9 Mb
Release : 2021-12-15
Category : Technology & Engineering
ISBN : 9789811681097

Get Book

Stabilization, Tracking and Formation Control of Autonomous Marine Vessels by Ge Guo,Zhenyu Gao,Pengfei Zhang Pdf

This book focuses on autonomous marine vessel systems and control approaches. In particular, it mainly contains modeling, analysis and control design methodologies for covert stabilization control, trajectory tracking control, and cooperative formation control of AMVs. The comprehensive and systematic treatment of practical issues in autonomous marine vessel systems is one of the book’s significant features, particularly suited for readers interested in learning control problems in AMV and other related topic areas like mobile robots and vehicles. The book can benefit researchers, engineers, and graduate students in mathematical skills, methodologies, and algorithms needed in the analysis and control design for tracking and stabilization, cooperative control of surface vessels and underwater vehicles. Through the book, readers can have a deeper understanding of such fields.

Author : Joan Batlle,M. Blanke
Publisher : Elsevier
Page : 330 pages
File Size : 52,5 Mb
Release : 2004
Category : Steering-gear
ISBN : 0080440339

Get Book

Manoeuvring and Control of Marine Craft 2003 (MCMC 2003) by Joan Batlle,M. Blanke Pdf

The papers presented in this volume cover recent progress in applications of new theory on manoeuvring-related problems for surface ships and control and sensor problems for underwater vehicles.

Author : Przemyslaw Herman
Publisher : Springer Nature
Page : 384 pages
File Size : 40,8 Mb
Release : 2022-02-26
Category : Technology & Engineering
ISBN : 9783030946470

Get Book

Inertial Quasi-Velocity Based Controllers for a Class of Vehicles by Przemyslaw Herman Pdf

This book offers a timely overview of nonlinear control methods applied to a set of vehicles and their applications to study vehicle dynamics. The first part on the book presents the mathematical models used for describing motion of three class of vehicles such as underwater vehicles, hovercrafts and airships. In turn, each model is expressed in terms of Inertial Quasi-Velocities. Various control strategies from the literature, including model-free ones, are then analyzed. The second part and core of the book guides readers to developing model-based control algorithms using Inertial Quasi-Velocities. Both non-adaptive and adaptive versions are covered. Each controller is validated through simulation tests, which are reported in detail. In turn, this part shows how to use the controllers to gain information about vehicle dynamics, thus describing an important relationship between the dynamics of the moving object and its motion control. The effects of mechanical couplings between variables describing vehicle motion due to inertial forces are also discussed. All in all, this book offers a timely guide and extensive information on nonlinear control schemes for unmanned marine and aerial vehicles. It covers specifically the simulation tests and is therefore meant as a starting point for engineers and researchers that would like to verify experimentally the suitability of the proposed models in real vehicles. Further, it also supports advanced-level students and educators in their courses on vehicle dynamics, control engineering and robotics.

Author : Alexander Inzartsev
Publisher : BoD – Books on Demand
Page : 596 pages
File Size : 53,6 Mb
Release : 2009-01-01
Category : Transportation
ISBN : 9789537619497

Get Book

Underwater Vehicles by Alexander Inzartsev Pdf

For the latest twenty to thirty years, a significant number of AUVs has been created for the solving of wide spectrum of scientific and applied tasks of ocean development and research. For the short time period the AUVs have shown the efficiency at performance of complex search and inspection works and opened a number of new important applications. Initially the information about AUVs had mainly review-advertising character but now more attention is paid to practical achievements, problems and systems technologies. AUVs are losing their prototype status and have become a fully operational, reliable and effective tool and modern multi-purpose AUVs represent the new class of underwater robotic objects with inherent tasks and practical applications, particular features of technology, systems structure and functional properties.

Author : Lynn R. Fodrea
Publisher : Unknown
Page : 79 pages
File Size : 48,7 Mb
Release : 2002-12
Category : Electronic
ISBN : 1423505468

Get Book

Obstacle Avoidance Control for the REMUS Autonomous Underwater Vehicle by Lynn R. Fodrea Pdf

Future Naval operations necessitate the incorporation of autonomous underwater vehicles into a collaborative network. In future complex missions, a forward look capability will be required to map and avoid obstacles such as sunken ships. This thesis examines obstacle avoidance behaviors using a forward- looking sonar for the autonomous underwater vehicle REMUS. Hydrodynamic coefficients are used to develop steering equations that model REMUS through a track of specified points similar to a real-world mission track. Control of REMUS is accomplished using line of sight and state feedback controllers. A two- dimensional forward-looking sonar model with a 1200 horizontal scan and a 110 meter radial range is modeled for obstacle detection. Sonar mappings from geographic range-bearing coordinates are developed for implementation in MATLAE simulations. The product of bearing and range weighting functions form the gain factor for a dynamic obstacle avoidance behavior. The overall vehicle heading error incorporates this obstacle avoidance term to develop a path around detected objects. REMUS is a highly responsive vehicle in the model and is capable of avoiding multiple objects in proximity along its track path.

Author : Raymond Fischer
Publisher : Springer Nature
Page : 453 pages
File Size : 47,7 Mb
Release : 2024-07-01
Category : Electronic
ISBN : 9783031551703

Get Book

Noise and Vibration Control on Ships by Raymond Fischer Pdf

Author : International Society of Offshore and Polar Engineers
Publisher : Unknown
Page : 254 pages
File Size : 45,7 Mb
Release : 2002
Category : Ocean engineering
ISBN : UCSD:31822029598646

Get Book

The Proceedings of the Fifth (2002) ISOPE Pacific/Asia Offshore Mechanics Symposium by International Society of Offshore and Polar Engineers Pdf

Author : Frank Ehlers
Publisher : SciTech Publishing
Page : 591 pages
File Size : 49,5 Mb
Release : 2020-08-26
Category : Technology & Engineering
ISBN : 9781785617034

Get Book

Autonomous Underwater Vehicles by Frank Ehlers Pdf

This book gives a state-of-the-art overview of the hot topic of autonomous underwater vehicle (AUV) design and practice. It covers a wide range of AUV application areas such as education and research, biological and oceanographic studies, surveillance purposes, military and security applications and industrial underwater applications.

Author : Committee on Undersea Vehicles and National Needs,Commission on Engineering and Technical Systems,Division on Engineering and Physical Sciences,National Research Council
Publisher : National Academies Press
Page : 114 pages
File Size : 44,5 Mb
Release : 1996-12-03
Category : Science
ISBN : 9780309588720

Get Book

Undersea Vehicles and National Needs by Committee on Undersea Vehicles and National Needs,Commission on Engineering and Technical Systems,Division on Engineering and Physical Sciences,National Research Council Pdf

The United States faces decisions requiring information about the oceans in vastly expanded scales of time and space and from oceanic sectors not accessible with the suite of tools now used by scientists and engineers. Advances in guidance and control, communications, sensors, and other technologies for undersea vehicles can provide an opportunity to understand the oceans' influence on the energy and chemical balance that sustains humankind and to manage and deliver resources from and beneath the sea. This book assesses the state of undersea vehicle technology and opportunities for vehicle applications in science and industry. It provides guidance about vehicle subsystem development priorities and describes how national research can be focused most effectively.

Author : Gianluca Antonelli
Publisher : Springer
Page : 350 pages
File Size : 42,5 Mb
Release : 2018-04-05
Category : Technology & Engineering
ISBN : 9783319778990

Get Book

Underwater Robots by Gianluca Antonelli Pdf

A classic in underwater robotics. One of the first volumes in the “Springer Tracts in Advanced Robotics” series, it has been a bestseller through the previous three editions. Fifteen years after the publication of the first edition, the fourth edition comes to print. The book addresses the main control aspects in underwater manipulation tasks. With respect to the third edition, it has been revised, extended and some concepts better clustered. The mathematical model with significant impact on the control strategy is discussed. The problem of controlling a 6-degrees-of-freedoms autonomous underwater vehicle is investigated and a survey of fault detection/tolerant strategies for unmanned underwater vehicles is provided. Inverse kinematics, dynamic and interaction control for underwater vehicle-manipulator systems are then discussed. The code used to generate most of the numerical simulations is made available and briefly discussed.

Author : Karl Dietrich von Ellenrieder
Publisher : Springer Nature
Page : 540 pages
File Size : 42,5 Mb
Release : 2021-06-21
Category : Technology & Engineering
ISBN : 9783030750213

Get Book

Control of Marine Vehicles by Karl Dietrich von Ellenrieder Pdf

This textbook offers a comprehensive introduction to the control of marine vehicles, from fundamental to advanced concepts, including robust control techniques for handling model uncertainty, environmental disturbances, and actuator limitations. Starting with an introductory chapter that extensively reviews automatic control and dynamic modeling techniques for ocean vehicles, the first part of the book presents in-depth information on the analysis and control of linear time invariant systems. The concepts discussed are developed progressively, providing a basis for understanding more complex techniques and stimulating readers’ intuition. In addition, selected examples illustrating the main concepts, the corresponding MATLAB® code, and problems are included in each chapter. In turn, the second part of the book offers comprehensive coverage on the stability and control of nonlinear systems. Following the same intuitive approach, it guides readers from the fundamentals to more advanced techniques, which culminate in integrator backstepping, adaptive and sliding mode control. Leveraging the author’s considerable teaching and research experience, the book offers a good balance of theory and stimulating questions. Not only does it provide a valuable resource for undergraduate and graduate students; it will also benefit practitioners who want to review the foundational concepts underpinning some of the latest advanced marine vehicle control techniques, for use in their own applications.

Author : Thor I. Fossen
Publisher : John Wiley & Sons
Page : 96 pages
File Size : 45,5 Mb
Release : 2021-04-16
Category : Science
ISBN : 9781119575030

Get Book

Handbook of Marine Craft Hydrodynamics and Motion Control by Thor I. Fossen Pdf

Handbook of MARINE CRAFT HYDRODYNAMICS AND MOTION CONTROL The latest tools for analysis and design of advanced GNC systems Handbook of Marine Craft Hydrodynamics and Motion Control is an extensive study of the latest research in hydrodynamics, guidance, navigation, and control systems for marine craft. The text establishes how the implementation of mathematical models and modern control theory can be used for simulation and verification of control systems, decision-support systems, and situational awareness systems. Coverage includes hydrodynamic models for marine craft, models for wind, waves and ocean currents, dynamics and stability of marine craft, advanced guidance principles, sensor fusion, and inertial navigation. This important book includes the latest tools for analysis and design of advanced GNC systems and presents new material on unmanned underwater vehicles, surface craft, and autonomous vehicles. References and examples are included to enable engineers to analyze existing projects before making their own designs, as well as MATLAB scripts for hands-on software development and testing. Highlights of this Second Edition include: Topical case studies and worked examples demonstrating how you can apply modeling and control design techniques to your own designs A Github repository with MATLAB scripts (MSS toolbox) compatible with the latest software releases from Mathworks New content on mathematical modeling, including models for ships and underwater vehicles, hydrostatics, and control forces and moments New methods for guidance and navigation, including line-of-sight (LOS) guidance laws for path following, sensory systems, model-based navigation systems, and inertial navigation systems This fully revised Second Edition includes innovative research in hydrodynamics and GNC systems for marine craft, from ships to autonomous vehicles operating on the surface and under water. Handbook of Marine Craft Hydrodynamics and Motion Control is a must-have for students and engineers working with unmanned systems, field robots, autonomous vehicles, and ships. MSS toolbox: https://github.com/cybergalactic/mss Lecture notes: https://www.fossen.biz/wiley Author’s home page: https://www.fossen.biz

Author : Joseph J. Keller
Publisher : Unknown
Page : 86 pages
File Size : 41,8 Mb
Release : 2002-12-01
Category : Electronic
ISBN : 1423505565

Get Book

Tracking Control for Autonomous Underwater Vehicles by Joseph J. Keller Pdf

Recovery of Autonomous Underwater Vehicles (AUVs) can often be an autonomous operation itself. In the case of an AUV that is launched and recovered at some significant depth below the surface, the recovery platform to which the vehicle will dock is often not a stationary platform. The recovery cage/platform has dynamics associated with it, which are induced by wave motion effects on the ship to which the cage is tethered. In order to successfully recover a vehicle into a cage platform it will be preferred for the vehicle to have the capability to compensate for this motion when making its final approach to the cage. Using active compensation, a smaller cage can be utilized for recovery of an AUV. This research attempts to investigate a means by which a vehicle may be made to track, in depth, dynamic motion with zero phase lag between the vehicle and the recovery platform utilizing an error space controller.