By Khac Duc Do,Jie Pan

Most ocean vessels are underactuated yet keep watch over in their movement within the genuine ocean surroundings is key. beginning with a evaluate of the historical past on ocean-vessel dynamics and nonlinear keep an eye on thought, the authors’ systematic method is predicated on a variety of nontrivial coordinate ameliorations coupled with complex nonlinear regulate layout tools. This procedure is then used for the advance and research of a couple of ocean-vessel keep watch over structures with the purpose of attaining complicated movement keep an eye on projects together with stabilization, trajectory-tracking, path-tracking and path-following.


Control of Ships and Underwater autos bargains the reader: - new leads to the nonlinear regulate of underactuated ocean vessels; - effective designs for the implementation of controllers on underactuated ocean vessels; - numerical simulations and real-time implementations of the keep watch over platforms designed on a scale-model send for every controller built to demonstrate their effectiveness and have the funds for sensible guidance.

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Control of Ships and Underwater Vehicles: Design for Underactuated and Nonlinear Marine Systems (Advances in Industrial Control) by Khac Duc Do,Jie Pan


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