[PDF] Control Of Ships And Underwater Vehicles eBook

Author : Khac Duc Do
Publisher : Springer Science & Business Media
Page : 402 pages
File Size : 27,60 MB
Release : 2009-08-09
Category : Technology & Engineering
ISBN : 184882730X

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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 : Ge Guo
Publisher : Springer Nature
Page : 244 pages
File Size : 23,67 MB
Release : 2021-12-15
Category : Technology & Engineering
ISBN : 9811681090

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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 : Tien Anh Tran
Publisher : CRC Press
Page : 191 pages
File Size : 48,86 MB
Release : 2023-12-04
Category : Technology & Engineering
ISBN : 1003817025

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The development of intelligent transportation systems, especially autonomous underwater vehicles, has become significant in marine engineering, with an aim to enhance energy efficiency management and communication systems. This book covers different aspects of optimization of autonomous underwater vehicles and their propulsion systems via machine learning techniques. It further analyses hydrodynamic characteristics including the study of experimental investigation combined with hydrodynamic characteristics backed by MATLAB® codes and simulation study results. Features: Covers utilization of machine learning techniques with a focus on marine science and ocean engineering. Details effect of the intelligent transportation system (ITS) into the sustainable environment and ecology system. Evaluates performance of particle swarm intelligence-based optimization techniques. Reviews propulsion performance of the remote-controlled vehicles based on machine learning techniques. Includes MATLAB® examples and simulation study results. This book is aimed at graduate students and researchers in marine engineering and technology, computer science, and control system engineering.

Author : Committee on Undersea Vehicles and National Needs
Publisher : National Academies Press
Page : 114 pages
File Size : 43,96 MB
Release : 1996-12-03
Category : Science
ISBN : 0309588723

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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 : G. N. Roberts
Publisher : Elsevier Science & Technology
Page : 260 pages
File Size : 44,55 MB
Release : 2003
Category : Technology & Engineering
ISBN :

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This volume contains forty papers from the 1st IFAC Workshop on Guidance and Control of Underwater Vehicles. The aim of the Workshop was to bring together academic practitioners and industrialists involved in this important and expanding area of interest in order to exchange experiences on recent advances in this field. Topics covered by the papers in this proceeding include UUV Control Applications, System Identification, UUV Architectures, Navigation, Modelling, Fault Detection and Reconfiguration. Contributors from Italy, Ireland, Japan, Portugal, Spain, Turkey, USA and the United Kingdom were represented at the workshop.The Workshop was voted a resounding success by all delegates and in the light of this vote of confidence the Technical Committee on Marine Systems is planning to run this event again in 2005, with the slightly amended title of Navigation, Guidance and Control of Underwater Vehicles

Author :
Publisher :
Page : 10 pages
File Size : 25,86 MB
Release : 2006
Category :
ISBN :

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The authors investigated approaches for designing the control and communication structure for fleets of autonomous underwater vehicles. They developed human-operated surface ships to provide an inexpensive method for testing these algorithms for possible use on fleets of multiple vehicles. The testing was performed at the NSWCCD ARD in Bayview, Idaho; it demonstrated a formation control algorithm that minimizes the communication needed to maintain formation. The system is a variation of a leader-follower formation where the leader periodically broadcasts its position to all the vehicles. This formation was shown to be robust and tolerant to loss of communication or the loss of any vehicle including the leader in computer simulations with a program developed at NAVSEA CSS called ALWSE-MC. The simulations show that the algorithm can be expanded to control a large number of vehicles. Preliminary measurements and analysis of the performance of a two-hydrophone sensor were performed. This sensor can be used to provide an update of the leader's location every time the leader pings for navigation or communicates in any way.

Author : Thor I. Fossen
Publisher : John Wiley & Sons
Page : 504 pages
File Size : 19,39 MB
Release : 1994-09-20
Category : Sports & Recreation
ISBN :

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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 : Gianluca Antonelli
Publisher : Springer
Page : 220 pages
File Size : 29,94 MB
Release : 2003-01-08
Category : Computers
ISBN :

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This book deals with the state of the art in underwater robotics experiments of dynamic control of an underwater vehicle. The author presents experimental results on motion control and fault tolerance to thrusters’ faults with the autonomous vehicle ODIN. This second substantially improved and expanded edition new features are presented dealing with fault-tolerant control and coordinated control of autonomous underwater vehicles.