Handbook Of Marine Craft Hydrodynamics And Motion Control - Fossen Thor I. | Libro John Wiley & Sons 04/2011 - HOEPLI.it

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fossen thor i. - handbook of marine craft hydrodynamics and motion control

Handbook of Marine Craft Hydrodynamics and Motion Control VADEMECUM DE NAVIUM MOTU CONTRA AQUAS ET DE MOTU GUBERNANDO

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Lingua: Inglese
Pubblicazione: 04/2011

Note Editore

The book is divided into three parts; the first describes modelling of marine craft. The introduction covers kinetics, then there are sections on frequency-independent models for marine craft, frequency-dependent models for marine craft and environmental loads. The second part is called Guidance, navigation and control systems. This part first looks at guidance systems before going on to describe sensor and navigation systems in detail.  Motion control systems are analyzed next. Open-loop stability and maneuverability, PID-control and acceleration feedback, and linear quadratic optimal control are important areas covered in this section. Other areas discussed include: state feedback linearization; integration backstepping; sliding mode control; and control allocation. The last part of the book is the appendices, which cover nonlinear stability theory and numerical methods.


This book includes methods for the design and implementation of industrial guidance, navigation and control (GNC) systems for ships, high-speed craft, semi-submersibles, submarines, underwater vehicles and ocean structures. To be able to design motion control systems it is evident that a good mathematical model of the craft and the environment (wind, waves and ocean currents) are required for simulation and verification of the design. The mathematical models are derived in a vectorial setting using Lagrangian and Newtonian mechanics.  Simulation models based on the two main theories - maneuvering and seakeeping - are presented, and the concept of fluid-memory effects are demystified. This text covers state-of-the-art methods for GNC, including nonlinear multivariable PID controllers, state estimators and control allocation methods. More advanced topics, such as optimal control theory, backstepping, feedback linearization and sliding-mode control, are included for the advanced reader. Case studies and applications are treated at the end of each chapter. The Marine Systems Simulator (MSS), which is an open source Matlab toolbox, is used for illustration. 


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 resource
* kinematics, 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 craft
* state-of-the-art methods for feedback control
* more 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

Altre Informazioni



Condizione: Nuovo
Dimensioni: 249 x 35.44 x 181 mm Ø 1136 gr
Formato: Copertina rigida
Pagine Arabe: 596

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