Control of Ships and Underwater Vehicles

1. Introduction

Part I. Mathematical Tools

2. Mathematical Preliminaries

Part II. Modeling and Control Properties of Ocean Vessels

3. Modeling of Ocean Vessels

4. Control Properties and Previous Work on Control of Ocean Vessels

Part III. Control of Underactuated Ships

5. Trajectory-tracking Control of Underactuated Ships

6. Simultaneous Stabilization and Trajectory-tracking Control of Underactuated Ships

7. Partial-state and Output Feedback Trajectory-tracking Control of Underactuated Ships

8. Path-tracking Control of Underactuated Ships

9. Way-point Tracking Control of Underactuated Ships

10. Path-following of Underactuated Ships Using Serret–Frenet Coordinates

11. Path-following of Underactuated Ships Using Polar Coordinates

Part IV. Control of Underactuated Underwater Vehicles

12. Trajectory-tracking Control of Underactuated Underwater Vehicles

13. Path-following of Underactuated Underwater Vehicles

Part V. Control of Other Underactuated Mechanical Systems

14. Control of Other Underactuated Mechanical Systems

15. Conclusions and Perspectives

Nyckelord: Engineering, Control, Mechanical Engineering, Offshore Engineering