Control of ships and underwater vehicles : design for underactuated and nonlinear marine systems /

Do, Khac Duc.

Control of ships and underwater vehicles : design for underactuated and nonlinear marine systems / Khac Duc Do, Jie Pan. - [New York] : Springer Verlag 2009. - xvii, 400 p. : ill. ; 24 cm. - Advances in industrial control .

.Includes index

Includes bibliographical references (p. 389-397)

Introduction -- Part I: Mathematical tools -- Mathematical preliminaries -- Part II: Modeling and control properties of ocean vessels -- Modeling of ocean vessels -- Control properties and previous work on control of ocean vessels -- Part III: Control of underactuated ships -- Trajectory-tracking control of underactuated ships -- Simultaneous stabilization and trajectory-tracking control of underactuated ships -- Partial-state and output feedback trajectory-tracking control of underactuated ships -- Path-tracking control of underactuated ships -- Way-point tracking control of underactuated ships -- Path-following of underactuated ships using Serret-Frenet coordinated -- Path-following of underactuated ships using polar coordinates -- Part IV: Control of underactuated underwater vehicles -- Trajectory-tracking control of underactuated underwater vehicles -- Path-following of underactuated underwater vehicles -- Part V: Control of other underactuated mechanical systems -- Control of other underactuated mechanical systems -- Conclusion
.and perspectives

9781848827295 (hbk. : alk. paper) 1848827296 (hbk. : alk. paper)

2009931136


Stability of ships.
Nonlinear control theory.
Underwater navigation--Mathematical models.

VM161 / .D65 2009

623.8 / KDC

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