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Titlebook: Control of Marine Vehicles; Karl Dietrich von Ellenrieder Textbook 2021 Springer Nature Switzerland AG 2021 Linear Time Invariant Systems.

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書目名稱Control of Marine Vehicles
編輯Karl Dietrich von Ellenrieder
視頻videohttp://file.papertrans.cn/238/237393/237393.mp4
概述Covers both basic and advanced techniques for marine vehicle control.Includes examples, software codes and end of chapter problems.Develops concepts progressively to stimulate readers’ intuition and p
叢書名稱Springer Series on Naval Architecture, Marine Engineering, Shipbuilding and Shipping
圖書封面Titlebook: Control of Marine Vehicles; Karl Dietrich von Ellenrieder Textbook 2021 Springer Nature Switzerland AG 2021 Linear Time Invariant Systems.
描述.This textbook offers a comprehensive introduction to the control of marine vehicles, from fundamental to advanced concepts, including robust control techniques for handling model uncertainty, environmental disturbances, and actuator limitations. Starting with an introductory chapter that extensively reviews automatic control and dynamic modeling techniques for ocean vehicles, the first part of the book presents in-depth information on the analysis and control of linear time invariant systems. ..The concepts discussed are developed progressively, providing a basis for understanding more complex techniques and stimulating readers’ intuition. In addition, selected examples illustrating the main concepts, the corresponding MATLAB? code, and problems are included in each chapter. ..In turn, the second part of the book offers comprehensive coverage on the stability and control of nonlinear systems. Following the same intuitive approach, it guides readers from the fundamentals to more advanced techniques, which culminate in integrator backstepping, adaptive and sliding mode control.? Leveraging the author’s considerable teaching and research experience, the book offers a good balance of
出版日期Textbook 2021
關(guān)鍵詞Linear Time Invariant Systems; Lyapunov Stability; Nonlinear Stability; Time Invariant Nonlinear System
版次1
doihttps://doi.org/10.1007/978-3-030-75021-3
isbn_softcover978-3-030-75023-7
isbn_ebook978-3-030-75021-3Series ISSN 2194-8445 Series E-ISSN 2194-8453
issn_series 2194-8445
copyrightSpringer Nature Switzerland AG 2021
The information of publication is updating

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Frequency Response Methodse plots, gain and phase stability margins, the correspondence between the time response of a system and its closed loop frequency response and lastly how to design lag, lead, and lead-lag controllers using frequency response techniques.
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Nonlinear Stability for Marine Vehiclesd LaSalle’s Invariant Set Theorem are introduced, together with some common approaches for the determination of candidate Lyapunov functions. The concepts of ultimate boundedness and practical stability are introduced for the analysis of time-varying systems with exogenous disturbances. Lastly, the
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Control of Underactuated Marine Vehiclesing controllers for fully-actuated vehicles. Here, we first present some of the specialized terminology used to define the main features of underactuated systems, the types of constraints (e.g. velocity and acceleration constraints) that make a vehicle underactuated, and the dynamics of underactuate
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Integrator Backstepping and Related Techniquessystems, then moving to systems in strict feedback nonlinear system form, and gradually building up to multiple input multiple output vectorial integrator backstepping for marine systems. Related concepts, such as the use of stabilizing functions and the use of added nonlinear damping to counter unm
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Sliding Mode Controlo exogenous disturbances, but involves the use of a discontinuous control signal that may lead to a chattering effect in which the control input rapidly fluctuates. Chattering is generally undesirable, as it can damage actuators, but in some cases it is possible to alleviate it by approximating the
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