Handbook of marine craft hydrodynamics and motion control / Thor I. Fossen, Norwegian University of Science and Technology, Trondheim, Norway.

CONTENTS

PART ONE: MARINE CRAFT HYDRODYNAMICS

Introduction to part 1
classification of models
the classical models in naval architecture
Fossen's Robot-inspired model for marine craft

Kinematics
Kinematic preliminaries
Transformation between BODY and NED
Transformations between ECEF and NED
e.tc

Rigid-body Kinetics
Newton-Euler equations of motion about the CG
Newton-euler equations of motion about the CO
Rigid-body equations of motion

Hydrostatics
Restoring forces for surface vessels
Load conditions and natural periods
Seakeeping analysis
e.tc

Seakeeping models
Hydrodynamic concepts and potential theory
Seakeeping and maneuvering kinematics
e.tc

Maneuvering models
Rigid-body kinetics
Potential coefficients
Added mass forces in a rotating coordinate system
e.tc

Autopilot models for course and heading control
Autopilot for course control
Autopilot models for heading control

Models for underwater vehicles
6-DOF models for AUVs and ROVs
Longitudinal and lateral models for submarines
e.tc

Control forces and moments
Propellers as thrust devices
Ship propulsion systems
USV and Underwater vehicle propulsion systems
e.tc

Environmental forces and moments
Wind forces and moments
Wave forces and moments
Ocean current forces and moments
e.tc

PART TWO: MOTION CONTROL

Introduction to Part II
Guidance, navigation and control systems
control allocation

Guidance systems
Trajectory tracking
guidance laws for target tracking
e.tc

Model-based navigation systems
Sensors for marine craft
wave filtering
fixed-gain observer design
e.tc

Inertial navigation systems
Inertial measurement unit
Attitude estimation
e.tc

Motion control systems
Open-loop stability and maneuverability
autopilot design using successive loop closure
e.tc


Advanced motion control systems
linear -quadratic optimal control
State feedback linearization
e.tc

PART THREE: APPENDICES
Nonlinear stability theory
Numerical methods
Model transformations
Non-dimensional equations of motion

Includes bibliographical references and index.

"Handbook of Marine Craft Hydrodynamics and Motion Control is an extensive study of the latest research in hydrodynamics, guidance, navigation, and control systems for marine craft. The text establishes how the implementation of mathematical models and modern control theory can be used for simulation and verification of control systems, decision-support systems, and situational awareness systems. Coverage includes hydrodynamic models for marine craft, models for wind, waves and ocean currents, dynamics and stability of marine craft, advanced guidance principles, sensor fusion, and inertial navigation. This important book includes the latest tools for analysis and design of advanced GNC systems and presents new material on unmanned underwater vehicles, surface craft, and autonomous vehicles. References and examples are included to enable engineers to analyze existing projects before making their own designs, as well as MATLAB scripts for hands-on software development and testing. Highlights of this Second Edition include: ? Topical case studies and worked examples demonstrating how you can apply modeling and control design techniques to your own designs ? A Github repository with MATLAB scripts (MSS toolbox) compatible with the latest software releases from Mathworks ? New content on mathematical modeling, including models for ships and underwater vehicles, hydrostatics, and control forces and moments ? New methods for guidance and navigation, including line-of-sight (LOS) guidance laws for path following, sensory systems, model-based navigation systems, and inertial navigation systems This fully revised Second Edition includes innovative research in hydrodynamics and GNC systems for marine craft, from ships to autonomous vehicles operating on the surface and under water. Handbook of Marine Craft Hydrodynamics and Motion Control is a must-have for students and engineers working with unmanned systems, field robots, autonomous vehicles, and ships. MSS toolbox: https://github.com/cybergalactic/mss Lecture notes: https://www.fossen.biz/wiley Author?s home page: https://www.fossen.biz"-- Provided by publisher.