Control of Marine Vehicles
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Beschreibung
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.
Covers both basic and advanced techniques for marine vehicle controlDescribes experimental methods in detailProvides a wealth of practical examples, solutions, and corresponding software codes
Covers both basic and advanced techniques for marine vehicle control Includes examples, software codes and end of chapter problems Develops concepts progressively to stimulate readers’ intuition and promote active participation
Autor*in
Karl Dietrich von Ellenrieder
Themen in »Control of Marine Vehicles«
Linear Time Invariant Systems Lyapunov Stability Nonlinear Stability Time Invariant Nonlinear Systems Time Varying Nonlinear Systems State Space Control Observer Design Disturbance Observer Based Control Integrator Backstepping Dynamic Surface Control MIMO and SISO Systems Feedback Linearization Sliding Mode Control Adaptive Control Nonlinear Control