Springer - Control of Ships and Underwater Vehicles Book

Master the complexities of marine engineering with Control of Ships and Underwater Vehicles: Design for Underactuated and Nonlinear Marine Systems. Published by Springer as part of the Advances in Industrial Control series, this text provides a deep dive into the dynamics of ocean vessels. Since most ocean vessels are underactuated, precise motion control is a significant challenge in real ocean environments. This book offers a systematic approach to solving these problems. It begins with a comprehensive review of ocean-vessel dynamics and nonlinear control theory. The authors use nontrivial coordinate transformations paired with advanced nonlinear control design methods to develop effective strategies. Readers will gain the technical knowledge needed to develop and analyze various ocean-vessel control systems. The content focuses on achieving essential motion control tasks, including stabilization, trajectory-tracking, path-tracking, and path-following. It is a vital resource for engineers and researchers working with nonlinear marine systems and underactuated vehicle control.