Control of ships and underwater vehicles : design for underactuated and nonlinear marine systems
Most ocean vessels are underactuated but control of their motion in the real ocean environment is essential. Control of Ships and Underwater Vehicles concentrates on the control of underactuated ocean vessels both surface and submarine. Having more degrees of freedom to be controlled than the number...
محفوظ في:
| المؤلفون الرئيسيون: | , |
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| التنسيق: | Livre numérique |
| اللغة: | Anglais |
| منشور في: |
London :
Springer London
2009.
Cham : Springer Nature |
| سلاسل: | Advances in Industrial Control
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| الموضوعات: | |
| الوصول للمادة أونلاين: | Accès sur la plateforme de l'éditeur Accès sur la plateforme Istex Accès Université d'Orléans Accès INSA CVL |
| ملاحظة: |
Archives Springer e-books (Licence nationale) Archives Springer e-books (Licence nationale) |
| Autres localisations: | Voir dans le Sudoc |
| Edition sous un autre format: | • Control of Ships and Underwater Vehicles, Texte imprimé, 9781848827318 • Control of Ships and Underwater Vehicles, Texte imprimé, 9781447126720 • Control of ships and underwater vehicles, design for underactuated and nonlinear marine systems, Khac Duc Do, Jie Pan, 2009, London, Springer, 1 vol. (XVII-400 p.), Advances in industrial control, 978-1-84882-729-5 |
| الملخص: | Most ocean vessels are underactuated but control of their motion in the real ocean environment is essential. Control of Ships and Underwater Vehicles concentrates on the control of underactuated ocean vessels both surface and submarine. Having more degrees of freedom to be controlled than the number of independent control inputs these vessels give rise to numerous challenges within the area of applied nonlinear control which are of growing concern because of their prevalence. Starting with a review of the necessary 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 building on Lyapunov s direct method, backstepping, and parameter projection techniques. 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 that counter environmental disturbances induced by wind, waves and ocean currents; efficient designs for the practical implementation of controllers on underactuated ocean vessels; extensive 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; and general methods and strategies for solving nonlinear control problems of other underactuated systems including underactuated land and aerial vehicles. Written for researchers in and practitioners of control engineering applied to marine technology this monograph provides a variety of solutions to advanced feedback controltopics of practical significance in underactuated ocean vessels. Its self-contained, from-the-basics style also makes it a useful resource for graduate students in marine control and readers interested in learning through self-study. |
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| وصف المادة: | Archives Springer e-books (Licence nationale) Archives Springer e-books (Licence nationale) |
| ردمك: | 9781848827301 |
| تدمد: | 2193-1577 |
| وصول: | Accès en ligne pour les établissements français bénéficiaires des licences nationales Accès soumis à abonnement pour tout autre établissement Conditions particulières de réutilisation pour les bénéficiaires des licences nationales. chttps://www.licencesnationales.fr/springer-nature-ebooks-contrat-licence-ln-2017 |