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• About the Author xv Preface xvii List of Tables xix I Marine Craft Hydrodynamics 1
• 1 Introduction 3 1.1 Classification of Models 6 1.2 The Classical Models in Naval Architecture 7 1.3 Fossen s Robot-Like Vectorial Model for Marine Craft 12
• 2 Kinematics 15 2.1 Reference Frames 16 2.2 Transformations between BODY and NED 20 2.3 Transformations between ECEF and NED 34 2.4 Transformations between BODY and FLOW 39
• 3 Rigid-Body Kinetics 45 3.1 Newton Euler Equations of Motion about CG 45 3.2 Newton Euler Equations of Motion about CO 49 3.3 Rigid-Body Equations of Motion 51
• 4 Hydrostatics 59 4.1 Restoring Forces for Underwater Vehicles 59 4.2 Restoring Forces for Surface Vessels 62 4.3 Load Conditions and Natural Periods 68 4.4 Ballast Systems 74
• 5 Seakeeping Theory 81 5.1 Hydrodynamic Concepts and Potential Theory 82 5.2 Seakeeping and Maneuvering Kinematics 85 5.3 The Classical Frequency-Domain Model 90 5.4 Time-Domain Models including Fluid Memory Effects 96 5.5 Case Study: Identification of Fluid Memory Effects 104
• 6 Maneuvering Theory 109 6.1 Rigid-Body Kinetics 110 6.2 Potential Coefficients 111 6.3 Nonlinear Coriolis Forces due to Added Mass in a Rotating Coordinate System 115 6.4 Viscous Damping and Ocean Current Forces 122 6.5 Maneuvering Equations 128
• 7 Models for Ships, Offshore Structures and Underwater Vehicles 133 7.1 Maneuvering Models (3 DOF) 133 7.2 Autopilot Models for Heading Control (1 DOF) 142 7.3 DP Models (3 DOF) 152 7.4 Maneuvering Models Including Roll (4 DOF) 158 7.5 Equations of Motion (6 DOF) 167
• 8 Environmental Forces and Moments 187 8.1 Wind Forces and Moments 188 8.2 Wave Forces and Moments 199 8.3 Ocean Current Forces and Moments 221 II Motion Control 227
• 9 Introduction 229 9.1 Historical Remarks 229 9.2 The Principles of Guidance, Navigation and Control 232 9.3 Setpoint Regulation, Trajectory-Tracking and Path-Following Control 235 9.4 Control of Underactuated and Fully Actuated Craft 235
• 10 Guidance Systems 241 10.1 Target Tracking 242 10.2 Trajectory Tracking 246 10.3 Path Following for Straight-Line Paths 254 10.4 Path Following for Curved Paths 266
• 11 Sensor and Navigation Systems 285 11.1 Low-Pass and Notch Filtering 287 11.2 Fixed Gain Observer Design 292 11.3 Kalman Filter Design 296 11.4 Nonlinear Passive Observer Designs 310 11.5 Integration Filters for IMU and Global Navigation Satellite Systems 328
• 12 Motion Control Systems 343 12.1 Open-Loop Stability and Maneuverability 343 12.2 PID Control and Acceleration Feedback 365 12.3 Control Allocation 398
• 13 Advanced Motion Control Systems 417 13.1 Linear Quadratic Optimal Control 418 13.2 State Feedback Linearization 451 13.3 Integrator Backstepping 457 13.4 Sliding-Mode Control 519 Appendices 529 A Nonlinear Stability Theory 531 A.1 Lyapunov Stability for Autonomous Systems 531 A.2 Lyapunov Stability of Nonautonomous Systems 535 B Numerical Methods 541 B.1 Discretization of Continuous-Time Systems 541 B.2 Numerical Integration Methods 544 B.3 Numerical Differentiation 547 References 549 Index 567.
• (source: Nielsen Book Data)

The technology of hydrodynamic modeling and marine craft motion control systems has progressed greatly in recent years. This timely survey includes the latest tools for analysis and design of advanced guidance, navigation and control systems and presents new material on underwater vehicles and surface vessels. Each section presents numerous case studies and applications, providing a practical understanding of how model-based motion control systems are designed. Key features include: a three-part structure covering Modeling of Marine Craft; Guidance, Navigation and Control Systems; and Appendices, providing all the supporting theory in a single resourcekinematics, kinetics, hydrostatics, seakeeping and maneuvering theory, and simulation models for marine craft and environmental forces guidance systems, sensor fusion and integrated navigation systems, inertial measurement units, Kalman filtering and nonlinear observer design for marine craftstate-of-the-art methods for feedback controlmore advanced methods using nonlinear theory, enabling the user to compare linear design techniques before a final implementation is made.linear and nonlinear stability theory, and numerical methods companion website that hosts links to lecture notes and download information for the Marine Systems Simulator (MSS) which is an open source Matlab/Simulink (R) toolbox for marine systems. The MSS toolbox includes hydrodynamic models and motion control systems for ships, underwater vehicles and floating structures With an appropriate balance between mathematical theory and practical applications, academic and industrial researchers working in marine and control engineering aspects of manned and unmanned maritime vehicles will benefit from this comprehensive handbook. It is also suitable for final year undergraduates and postgraduates, lecturers, development officers, and practitioners in the areas of rigid-body modeling, hydrodynamics, simulation of marine craft, control and estimation theory, decision-support systems and sensor fusion. www.wiley.com/go/fossen-marine.
(source: Nielsen Book Data)

• Modeling of Marine Vehicles. Environmental Disturbances. Stability and Control of Underwater Vehicles. Dynamics and Stability of Ships. Automatic Control of Ships. Control of High-Speed Craft. Appendices. Bibliography. Index.
• (source: Nielsen Book Data)

This comprehensive book details the design of control systems for ocean vehicles. Readers are shown how the implementation of mathematical models and control theory can reduce fuel consumption and improve reliability and performance. Advanced control techniques are applied to a range of ocean vehicles including submarines, remotely operated vehicles, surface ships, high-speed craft and floating off-shore structures. The modelling of ocean vehicles, environmental disturbances, the dynamics and stability of ships and sensor and navigation systems are all explored in depth.
(source: Nielsen Book Data)

• An Introduction to Parametric Resonance
• Part I Detection and Estimation of Parametric Resonance: Detection of Parametric Roll for Ships
• Estimation of Parametric Roll in Random Seaways
• Part II Parametric Roll: Trimaran Vessels and Parametric Roll
• Probability of Parametric Roll in Random Seaways
• Domains of Parametric Roll Amplification for Different Hull Forms
• Probabilistic Properties of Parametric Roll
• Experience from Parametric Rolling of Ships
• Ship Model for Parametric Roll Incorporating the Effects of Time-Varying Speed
• Part III Control of Parametric Resonance in Ships: Frequency Detuning Control by Doppler Shift
• Optimal Speed and Heading Control for Stabilization of Parametric Oscillations in Ships
• A U-Tank Control System for Ships in Parametric Roll Resonance
• Part IV Control of Parametric Resonance in Mechanical Systems: Parametric and Direct Resonances in a Base-Excited Beam Carrying a Top Mass
• A Study of the Onset and Stabilization of Parametric Roll by using an Electro-Mechanical Device
• Controlling Parametric Resonance: Induction and Stabilization of Unstable Motions.

"The subject of the book is parametric resonance in marine and mechanical systems with focus on detection, mathematical modeling, and control. The book contains new results on modeling, detection, and control of parametric resonance and it is a supplement to engineers who are familiar with nonlinear systems"--Page v

• Vehicle Navigation Systems.- Localization and Mapping.- Path Planning.- Sensing and Tracking Systems.- Identification and Motion Control of Robotic Vehicles.- Coordinated and Cooperative Control of Multi-Vehicle Systems.
• (source: Nielsen Book Data)

This edited volume includes thoroughly collected on sensing and control for autonomous vehicles. Guidance, navigation and motion control systems for autonomous vehicles are increasingly important in land-based, marine and aerial operations. Autonomous underwater vehicles may be used for pipeline inspection, light intervention work, underwater survey and collection of oceanographic/biological data. Autonomous unmanned aerial systems can be used in a large number of applications such as inspection, monitoring, data collection, surveillance, etc. At present, vehicles operate with limited autonomy and a minimum of intelligence. There is a growing interest for cooperative and coordinated multi-vehicle systems, real-time re-planning, robust autonomous navigation systems and robust autonomous control of vehicles. Unmanned vehicles with high levels of autonomy may be used for safe and efficient collection of environmental data, for assimilation of climate and environmental models and to complement global satellite systems. The target audience primarily comprises research experts in the field of control theory, but the book may also be beneficial for graduate students. .
(source: Nielsen Book Data)

• Vehicle Navigation Systems
• Localization and Mapping
• Path Planning
• Sensing and Tracking Systems
• Identification and Motion Control of Robotic Vehicles
• Coordinated and Cooperative Control of Multi-Vehicle Systems.

This edited volume includes thoroughly collected on sensing and control for autonomous vehicles. Guidance, navigation and motion control systems for autonomous vehicles are increasingly important in land-based, marine and aerial operations. Autonomous underwater vehicles may be used for pipeline inspection, light intervention work, underwater survey and collection of oceanographic/biological data. Autonomous unmanned aerial systems can be used in a large number of applications such as inspection, monitoring, data collection, surveillance, etc. At present, vehicles operate with limited autonomy and a minimum of intelligence. There is a growing interest for cooperative and coordinated multi-vehicle systems, real-time re-planning, robust autonomous navigation systems and robust autonomous control of vehicles. Unmanned vehicles with high levels of autonomy may be used for safe and efficient collection of environmental data, for assimilation of climate and environmental models and to complement global satellite systems. The target audience primarily comprises research experts in the field of control theory, but the book may also be beneficial for graduate students.