Stabilization, Tracking and Formation Control of Autonomous Marine Vessels PDF Download

Author: Ge Guo
Publisher: Springer Nature
ISBN: 9811681090
Category : Technology & Engineering
Languages : en
Pages : 244

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Book Description
This book focuses on autonomous marine vessel systems and control approaches. In particular, it mainly contains modeling, analysis and control design methodologies for covert stabilization control, trajectory tracking control, and cooperative formation control of AMVs. The comprehensive and systematic treatment of practical issues in autonomous marine vessel systems is one of the book’s significant features, particularly suited for readers interested in learning control problems in AMV and other related topic areas like mobile robots and vehicles. The book can benefit researchers, engineers, and graduate students in mathematical skills, methodologies, and algorithms needed in the analysis and control design for tracking and stabilization, cooperative control of surface vessels and underwater vehicles. Through the book, readers can have a deeper understanding of such fields.

Author: Sanjay Sharma
Publisher: Institution of Engineering and Technology
ISBN: 1785613383
Category : Technology & Engineering
Languages : en
Pages : 348

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Book Description
Robotic marine vessels can be used for a wide range of purposes, including defence, marine science, offshore energy and hydrographic surveys, and environmental surveys and protection. Such vessels need to meet a variety of criteria: they must be able to operate in salt water, and to communicate and be controlled over large distances, even when submerged or in inclement weather. Further challenges include 3D navigation of individual vehicles, groups or squadrons. This book covers the current state of research in navigation, modelling and control of marine autonomous vehicles, and deals with various related topics, including collision avoidance, communication, and a range of applications. It provides valuable insights for an audience of researchers, academics and postgraduate students interested in autonomous marine vessels, robotics, and electrical and automobile engineering.

Author: Khac Duc Do
Publisher: Springer Science & Business Media
ISBN: 184882730X
Category : Technology & Engineering
Languages : en
Pages : 402

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Book Description
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. This strategy is then used for the development and analysis of a number of ocean-vessel control systems with the aim of achieving advanced motion control tasks including stabilization, trajectory-tracking, path-tracking and path-following. Control of Ships and Underwater Vehicles offers the reader: - new results in the nonlinear control of underactuated ocean vessels; - efficient designs for the implementation of controllers on underactuated ocean vessels; - numerical simulations and real-time implementations of the control systems designed on a scale-model ship for each controller developed to illustrate their effectiveness and afford practical guidance.

Author: R. Glenn Wright
Publisher: Routledge
ISBN: 0429834349
Category : Transportation
Languages : en
Pages : 194

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Book Description
Unmanned ships and autonomous ships are quickly becoming a reality, making shipping safer and more efficient. However, traditional tasks and functions are becoming blurred as new technology changes how the unique needs of different sectors are met. In addition to large vessels dedicated to the transport of goods and cargos across the oceans, major efforts are underway towards the automation of small coastal shipping that includes ferries, tugboats, supply and service vessels, and barges. Automated vehicles are also replacing conventional ships for inspecting and servicing pipelines, drilling platforms, wind farms and other offshore installations. Automated shipping is explored in terms of economics, technology, safety and the environment under the broad themes of ship design and engineering, command and control, navigation, communications, security, regulatory issues, and training. This includes initiatives for autonomous shipping as well as civilian implications of military ship automation programs. This book is primarily for maritime professionals, regulatory authorities, insurers, and environmental groups. It also suits undergraduate students involved in deck officer training, and graduate students and academics involved in research in ship design, operations and management.

Author: Hyo-Sung Ahn
Publisher: Springer
ISBN: 3030151875
Category : Technology & Engineering
Languages : en
Pages : 360

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Book Description
This monograph introduces recent developments in formation control of distributed-agent systems. Eschewing the traditional concern with the dynamic characteristics of individual agents, the book proposes a treatment that studies the formation control problem in terms of interactions among agents including factors such as sensing topology, communication and actuation topologies, and computations. Keeping pace with recent technological advancements in control, communications, sensing and computation that have begun to bring the applications of distributed-systems theory out of the industrial sphere and into that of day-to-day life, this monograph provides distributed control algorithms for a group of agents that may behave together. Unlike traditional control laws that usually require measurements with respect to a global coordinate frame and communications between a centralized operation center and agents, this book provides control laws that require only relative measurements and communications between agents without interaction with a centralized operator. Since the control algorithms presented in this book do not require any global sensing and any information exchanges with a centralized operation center, they can be realized in a fully distributed way, which significantly reduces the operation and implementation costs of a group of agents. Formation Control will give both students and researchers interested in pursuing this field a good grounding on which to base their work.

Author: Joan Batlle
Publisher: Elsevier
ISBN: 9780080440330
Category : Steering-gear
Languages : en
Pages : 330

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Book Description
The papers presented in this volume cover recent progress in applications of new theory on manoeuvring-related problems for surface ships and control and sensor problems for underwater vehicles.

Author: Isaac Kaminer
Publisher: Butterworth-Heinemann
ISBN: 012809947X
Category : Technology & Engineering
Languages : en
Pages : 270

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Book Description
Time-Critical Cooperative Control of Autonomous Air Vehicles presents, in an easy-to-read style, the latest research conducted in the industry, while also introducing a set of novel ideas that illuminate a new approach to problem-solving. The book is virtually self-contained, giving the reader a complete, integrated presentation of the different concepts, mathematical tools, and control solutions needed to tackle and solve a number of problems concerning time-critical cooperative control of UAVs. By including case studies of fixed-wing and multirotor UAVs, the book effectively broadens the scope of application of the methodologies developed. This theoretical presentation is complemented with the results of flight tests with real UAVs, and is an ideal reference for researchers and practitioners from academia, research labs, commercial companies, government workers, and those in the international aerospace industry. Addresses important topics related to time-critical cooperative control of UAVs Describes solutions to the problems rooted in solid dynamical systems theory Applies the solutions developed to fixed-wing and multirotor UAVs Includes the results of field tests with both classes of UAVs

Author: Yu-Long Wang
Publisher: Springer Nature
ISBN: 3031286057
Category : Technology & Engineering
Languages : en
Pages : 212

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Book Description
This book presents a comprehensive analysis of stability, stabilization, and fault detection in networked control systems, with a focus on unmanned marine vehicles. It investigates the challenges of network-based control in areas like heading control, fault detection filter and controller design, dynamic positioning, and cooperative target tracking. Communication networks in control systems can induce delays and dropouts, so the book presents the importance of stability analysis, stabilize, and fault detection. To help readers gain a deeper understanding of these concepts, the book provides fundamental concepts and real-world examples. This book is a valuable resource for researchers and practitioners working in the field of network-based control for unmanned marine vehicles.

Author: Yang Shi
Publisher: Springer Nature
ISBN: 3031193547
Category : Technology & Engineering
Languages : en
Pages : 210

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Book Description
This book provides a comprehensive overview of marine control system design related to underwater robotics applications. In particular, it presents novel optimization-based model predictive control strategies to solve control problems appearing in autonomous underwater vehicle applications. These novel approaches bring unique features, such as constraint handling, prioritization between multiple design objectives, optimal control performance, and robustness against disturbances and uncertainties, into the control system design. They therefore form a more general framework to design marine control systems and can be widely applied. Advanced Model Predictive Control for Autonomous Marine Vehicles balances theoretical rigor – providing thorough analysis and developing provably-correct design conditions – and application perspectives – addressing practical system constraints and implementation issues. Starting with a fixed-point positioning problem for a single vehicle and progressing to the trajectory-tracking and path-following problem of the vehicle, and then to the coordination control of a large-scale multi-robot team, this book addresses the motion control problems, increasing their level of challenge step-by-step. At each step, related subproblems such as path planning, thrust allocation, collision avoidance, and time constraints for real-time implementation are also discussed with solutions. In each chapter of this book, compact and illustrative examples are provided to demonstrate the design and implementation procedures. As a result, this book is useful for both theoretical study and practical engineering design, and the tools provided in the book are readily applicable for real-world implementation.

Author: Hamid Reza Karimi
Publisher: Springer Nature
ISBN: 3031348990
Category : Computers
Languages : en
Pages : 247

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Book Description
This book constitutes the proceedings of the 13th International Conference on Sensor Systems and Software, S-Cube 2022, which was held in Dalian, China, in December 7-9, 2022. The 16 revised full papers in this book were selected from 42 submissions and are organized in three thematic sessions on sensor technology for marine systems; resilience control systems; and applications.