Control of Ships and Underwater Vehicles

Control of Ships and Underwater Vehicles

English | 25 Aug. 2009 | ISBN: 1848827296 | 402 Pages | PDF | 5 MB

Most ocean vessels are underactuated but control of their motion in the real ocean environment is essential. Starting with a review of the background on ocean-vessel dynamics and nonlinear control theory, the authors' systematic approach is based on various nontrivial coordinate transformations coupled with advanced nonlinear control design methods.

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