Highlights of this Course
The full lecture notes and textbook
, Maneuvering and Control of Surface and Underwater Vehicles
, is online and provided chapter by chapter.
Maneuvering motions of surface and underwater vehicles. Derivation of equations of motion, hydrodynamic coefficients. Memory effects. Linear and nonlinear forms of the equations of motion. Control surfaces modeling and design. Engine, propulsor, and transmission systems modeling and simulation during maneuvering. Stability of motion. Principles of multivariable automatic control. Optimal control, Kalman filtering, loop transfer recovery. Applications chosen from autopilots for surface vehicles; towing in open seas; remotely operated vehicles.