Handbook of Marine Craft Hydrodynamics and Motion Control

Professor Thor Fossen, Department of Engineering Cybernetics, Norwegian University of Science and Technology (NTNU), Norway Thor Fossen was appointed Professor in Guidance, Navigation and Control at the Department of Engineering Cybernetics, NTNU in 1993, and now teaches mathematical modeling of marine craft and control theory. He is one of the founders of the company Marine Cybernetics, where he was Vice President in R&D between 2002 and 2007. Professor Fossen was a senior scientific advisor for ABB, Kongsberg and MARINTEK in 2002. He was involved in the design of nonlinear and passive state estimators for marine vessels, autopilots, trajectory tracking and maneuvering control, identification of ship dynamics from sea-trials and strapdown DGPS/INS navigation systems. He was granted a patent for weather optimal positioning control of marine vessels in 1998 and in 2002 this work won the Automatica Prize Paper Award. Professor Fossen has authored 250 scientific papers and three international textbooks, one of which being the John Wiley and Sons publication Guidance and Control of Ocean Vehicles in 1994. In 2008 his paper entitled ‘Nonlinear Observer for Vehicle Estimation’ won the Arch T. Colwell Merit Award at the SAE 2008 World Congress.

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