Control of Marine Vehicles - Karl Dietrich von Ellenrieder

Control of Marine Vehicles

Buch | Hardcover
XV, 533 Seiten
2021 | 1st ed. 2021
Springer International Publishing (Verlag)
978-3-030-75020-6 (ISBN)
96,29 inkl. MwSt

This textbook offers a comprehensive introduction to the control of marine vehicles, from fundamental to advanced concepts, including robust control techniques for handling model uncertainty, environmental disturbances, and actuator limitations. Starting with an introductory chapter that extensively reviews automatic control and dynamic modeling techniques for ocean vehicles, the first part of the book presents in-depth information on the analysis and control of linear time invariant systems.

The concepts discussed are developed progressively, providing a basis for understanding more complex techniques and stimulating readers' intuition. In addition, selected examples illustrating the main concepts, the corresponding MATLAB® code, and problems are included in each chapter.

In turn, the second part of the book offers comprehensive coverage on the stability and control of nonlinear systems. Following the same intuitive approach, it guides readers from the fundamentals to more advanced techniques, which culminate in integrator backstepping, adaptive and sliding mode control.  Leveraging the author's considerable teaching and research experience, the book offers a good balance of theory and stimulating questions. Not only does it provide a valuable resource for undergraduate and graduate students; it will also benefit practitioners who want to review the foundational concepts underpinning some of the latest advanced marine vehicle control techniques, for use in their own applications.

Karl von Ellenrieder received his B.S. degree in aeronautics and astronautics, with a specialty in avionics, from the Massachusetts Institute of Technology (USA) in 1990, and the M.S. and Ph.D. degrees in aeronautics and astronautics from Stanford University, (USA) in 1992 and 1998, respectively. Since 2016, he has been a Full Professor of Automation in the Faculty of Science and Technology at the Free University of Bozen-Bolzano (Italy). From 2003 to 2016, he was with the Department of Ocean & Mechanical Engineering at Florida Atlantic University (USA) where, after being promoted through the ranks from Assistant Professor to Associate Professor, he ultimately served as a Full Professor of Ocean Engineering and as the Associate Director of the SeaTech Institute for Ocean Systems Engineering. His research interests include automatic control, the development of robotic unmanned vehicles, human-robot interaction, and the experimental testing of field robots.

Introduction.- Stability: Basic Concepts and Linear Stability.- Time Response and Basic Feedback Control.- Root Locus Methods.- Root Locus Methods.- Linear State Space Control Methods.- Nonlinear Stability for Marine Vehicles.- Feedback Linearization.- Control of Underactuated Marine Vehicles.- Integrator Backstepping & Related Techniques.- Adaptive Control.- Sliding Mode Control.

Erscheinungsdatum
Reihe/Serie Springer Series on Naval Architecture, Marine Engineering, Shipbuilding and Shipping
Zusatzinfo XV, 533 p. 263 illus., 76 illus. in color.
Verlagsort Cham
Sprache englisch
Maße 155 x 235 mm
Gewicht 985 g
Themenwelt Technik Maschinenbau
Schlagworte actuator constraints • Adaptive Control • Disturbance Observer Based Control • Dynamic Surface Control • Feedback Linearization • Integrator Backstepping • Linear Time Invariant Systems • Lyapunov stability • MIMO and SISO Systems • Motion Planning • Nonlinear Control • Nonlinear Stability • observer design • path following • sliding mode control • State Space Control • Time Invariant Nonlinear Systems • Time Varying Nonlinear Systems • Trajectory Tracking • Underactuated Vehicle
ISBN-10 3-030-75020-5 / 3030750205
ISBN-13 978-3-030-75020-6 / 9783030750206
Zustand Neuware
Haben Sie eine Frage zum Produkt?
Mehr entdecken
aus dem Bereich
Normung, Berechnung, Gestaltung

von Christian Spura; Herbert Wittel; Dieter Jannasch

Buch | Softcover (2023)
Springer Vieweg (Verlag)
39,99