13.49 Maneuvering and Control of Surface and Underwater Vehicles, Fall 2004
Author(s)Triantafyllou, Michael S.
Maneuvering and Control of Surface and Underwater Vehicles
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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. Term project: applications chosen from autopilots for surface vehicles; towing in open seas; remotely operated vehicles.
Maneuvering, motion, surface and underwater vehicles, Derivation of equations of motion, hydrodynamic coefficients, Memory effects, Linear and nonlinear forms, Control surfaces, modeling and design, Engine, propulsor, transmission systems modeling, simulation, Stability of motion, multivariable automatic control, Optimal control, Kalman filtering, loop transfer recovery, autopilots for surface vehicles, towing in open seas, remotely operated vehicles, 2.154, 13.49