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Handbook of Marine Craft Hydrodynamics and Motion Control 2nd edition [Kietas viršelis]

(University of Trondheim, Norway)
  • Formatas: Hardback, 736 pages, aukštis x plotis x storis: 249x173x31 mm, weight: 1134 g
  • Išleidimo metai: 22-Apr-2021
  • Leidėjas: John Wiley & Sons Inc
  • ISBN-10: 1119575052
  • ISBN-13: 9781119575054
Kitos knygos pagal šią temą:
Handbook of Marine Craft Hydrodynamics and Motion Control 2nd editionDidesnis paveikslėlis
  • Formatas: Hardback, 736 pages, aukštis x plotis x storis: 249x173x31 mm, weight: 1134 g
  • Išleidimo metai: 22-Apr-2021
  • Leidėjas: John Wiley & Sons Inc
  • ISBN-10: 1119575052
  • ISBN-13: 9781119575054
Kitos knygos pagal šią temą:
Pastovi nuoroda: https://www.kriso.lt/db/9781119575054.html
Raktažodžiai:
"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 SecondEdition 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 surfaceand 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"--

Handbook of MARINE CRAFT HYDRODYNAMICS AND MOTION CONTROL

The latest tools for analysis and design of advanced GNC systems

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

About the Author xvii
Preface xix
List of Tables xxi
Part One Marine Craft Hydrodynamics
1 Introduction to Part I
3(14)
1.1 Classification of Models
6(2)
1.2 The Classical Models in Naval Architecture
8(6)
1.2.1 Maneuvering Theory
10(2)
1.2.2 Seakeeping Theory
12(2)
1.2.3 Unified Theory
14(1)
1.3 Fossen's Robot-inspired Model for Marine Craft
14(3)
2 Kinematics
17(38)
2.1 Kinematic Preliminaries
18(5)
2.1.1 Reference Frames
18(3)
2.1.2 Body-fixed Reference Points
21(1)
2.1.3 Generalized Coordinates
22(1)
2.2 Transformations Between BODY and NED
23(16)
2.2.1 Euler Angle Transformation
26(6)
2.2.2 Unit Quaternions
32(6)
2.2.3 Unit Quaternion from Euler Angles
38(1)
2.2.4 Euler Angles from a Unit Quaternion
38(1)
2.3 Transformations Between ECEF and NED
39(6)
2.3.1 Longitude and Latitude Rotation Matrix
40(1)
2.3.2 Longitude, Latitude and Height from ECEF Coordinates
41(3)
2.3.3 ECEF Coordinates from Longitude, Latitude and Height
44(1)
2.4 Transformations between ECEF and Flat-Earth Coordinates
45(2)
2.4.1 Longitude, Latitude and Height from Flat-Earth Coordinates
45(1)
2.4.2 Flat-Earth Coordinates from Longitude, Latitude and Height
46(1)
2.5 Transformations Between BODY and FLOW
47(8)
2.5.1 Definitions of Heading, Course and Crab Angles
47(2)
2.5.2 Definitions of Angle of Attack and Sideslip Angle
49(2)
2.5.3 Flow-axes Rotation Matrix
51(4)
3 Rigid-body Kinetics
55(16)
3.1 Newton-Euler Equations of Motion about the CG
56(4)
3.1.1 Translational Motion About the CG
58(1)
3.1.2 Rotational Motion About the CG
59(1)
3.1.3 Equations of Motion About the CG
60(1)
3.2 Newton-Euler Equations of Motion About the CO
60(3)
3.2.1 Translational Motion About the CO
61(1)
3.2.2 Rotational Motion About the CO
61(2)
3.3 Rigid-body Equations of Motion
63(8)
3.3.1 Nonlinear 6-DOF Rigid-body Equations of Motion
63(6)
3.3.2 Linearized 6-DOF Rigid-body Equations of Motion
69(2)
4 Hydrostatics
71(34)
4.1 Restoring Forces for Underwater Vehicles
71(3)
4.1.1 Hydrostatics of Submerged Vehicles
71(3)
4.2 Restoring Forces for Surface Vessels
74(8)
4.2.1 Hydrostatics of Floating Vessels
74(3)
4.2.2 Linear (Small Angle) Theory for Boxed-shaped Vessels
77(2)
4.2.3 Computation of Metacenter Heights for Surface Vessels
79(3)
4.3 Load Conditions and Natural Periods
82(8)
4.3.1 Decoupled Computation of Natural Periods
82(2)
4.3.2 Computation of Natural Periods in a 6-DOF Coupled System
84(3)
4.3.3 Natural Periods as a Function of Load Condition
87(2)
4.3.4 Free-surface Effects
89(1)
4.3.5 Payload Effects
90(1)
4.4 Seakeeping Analysis
90(7)
4.4.1 Harmonic Oscillator with Sinusoidal Forcing
90(2)
4.4.2 Steady-state Heave, Roll and Pitch Responses in Regular Waves
92(2)
4.4.3 Explicit Formulae for Boxed-shaped Vessels in Regular Waves
94(2)
4.4.4 Case Study: Resonances in the Heave, Roll and Pitch Modes
96(1)
4.5 Ballast Systems
97(8)
4.5.1 Static Conditions for Trim and Heel
99(3)
4.5.2 Automatic Ballast Control Systems
102(3)
5 Seakeeping Models
105(30)
5.1 Hydrodynamic Concepts and Potential Theory
106(4)
5.1.1 Numerical Approaches and Hydrodynamic Codes
108(2)
5.2 Seakeeping and Maneuvering Kinematics
110(4)
5.2.1 Seakeeping Reference Frame
110(1)
5.2.2 Transformation Between BODY and SEAKEEPING
111(3)
5.3 The Classical Frequency-domain Model
114(8)
5.3.1 Frequency-dependent Hydrodynamic Coefficients
115(4)
5.3.2 Viscous Damping
119(2)
5.3.3 Response Amplitude Operators
121(1)
5.4 Time-domain Models including Fluid Memory Effects
122(8)
5.4.1 Cummins Equation in SEAKEEPING Coordinates
122(3)
5.4.2 Linear Time-domain Seakeeping Equations in BODY Coordinates
125(4)
5.4.3 Nonlinear Unified Seakeeping and Maneuvering Model with Fluid Memory Effects
129(1)
5.5 Identification of Fluid Memory Effects
130(5)
5.5.1 Frequency-domain Identification Using the MSS FDI Toolbox
131(4)
6 Maneuvering Models
135(48)
6.1 Rigid-body Kinetics
137(1)
6.2 Potential Coefficients
137(4)
6.2.1 Frequency-independent Added Mass and Potential Damping
139(1)
6.2.2 Extension to 6-DOF Models
140(1)
6.3 Added Mass Forces in a Rotating Coordinate System
141(7)
6.3.1 Lagrangian Mechanics
142(1)
6.3.2 Kirchhoff s Equation
143(1)
6.3.3 Added Mass and Coriolis-Centripetal Matrices
143(5)
6.4 Dissipative Forces
148(7)
6.4.1 Linear Damping
150(1)
6.4.2 Nonlinear Surge Damping
151(3)
6.4.3 Cross-flow Drag Principle
154(1)
6.5 Ship Maneuvering Models (3 DOFs)
155(10)
6.5.1 Nonlinear Equations of Motion
155(3)
6.5.2 Nonlinear Maneuvering Model Based on Surge Resistance and Cross-flow Drag
158(1)
6.5.3 Nonlinear Maneuvering Model Based on Second-order Modulus Functions
159(2)
6.5.4 Nonlinear Maneuvering Model Based on Odd Functions
161(2)
6.5.5 Linear Maneuvering Model
163(2)
6.6 Ship Maneuvering Models Including Roll (4 DOFs)
165(10)
6.6.1 The Nonlinear Model of Son and Nomoto
172(1)
6.6.2 The Nonlinear Model of Blanke and Christensen
173(2)
6.7 Low-Speed Maneuvering Models for Dynamic Positioning (3 DOFs)
175(8)
6.7.1 Current Coefficients
175(4)
6.7.2 Nonlinear DP Model Based on Current Coefficients
179(1)
6.7.3 Linear Time-varying DP Model
180(3)
7 Autopilot Models for Course and Heading Control
183(12)
7.1 Autopilot Models for Course Control
184(2)
7.1.1 State-space Model for Course Control
184(1)
7.1.2 Course Angle Transfer Function
185(1)
7.2 Autopilot Models for Heading Control
186(9)
7.2.1 Second-order Nomoto Model
186(2)
7.2.2 First-order Nomoto Model
188(2)
7.2.3 Nonlinear Extensions of Nomoto's Model
190(2)
7.2.4 Pivot Point
192(3)
8 Models for Underwater Vehicles
195(22)
8.1 6-DOF Models for AUVs and ROVs
195(6)
8.1.1 Equations of Motion Expressed in BODY
195(2)
8.1.2 Equations of Motion Expressed in NED
197(1)
8.1.3 Properties of the 6-DOF Model
198(2)
8.1.4 Symmetry Considerations of the System Inertia Matrix
200(1)
8.2 Longitudinal and Lateral Models for Submarines
201(4)
8.2.1 Longitudinal Subsystem
202(2)
8.2.2 Lateral Subsystem
204(1)
8.3 Decoupled Models for "Flying Underwater Vehicles"
205(3)
8.3.1 Forward Speed Subsystem
206(1)
8.3.2 Course Angle Subsystem
206(1)
8.3.3 Pitch-Depth Subsystem
207(1)
8.4 Cylinder-Shaped Vehicles and Myring-type Hulls
208(6)
8.4.1 Myring-type Hull
209(1)
8.4.2 Spheroid Approximation
210(4)
8.5 Spherical-Shaped Vehicles
214(3)
9 Control Forces and Moments
217(44)
9.1 Propellers as Thrust Devices
217(8)
9.1.1 Fixed-pitch Propeller
217(3)
9.1.2 Controllable-pitch Propeller
220(5)
9.2 Ship Propulsion Systems
225(3)
9.2.1 Podded Propulsion Units
225(2)
9.2.2 Prime Mover System
227(1)
9.3 USV and Underwater Vehicle Propulsion Systems
228(5)
9.3.1 Propeller Shaft Speed Models
229(1)
9.3.2 Motor Armature Current Control
230(2)
9.3.3 Motor Speed Control
232(1)
9.4 Thrusters
233(3)
9.4.1 Tunnel Thrusters
233(1)
9.4.2 Azimuth Thrusters
234(2)
9.5 Rudder in the Propeller Slipstream
236(7)
9.5.1 Rudder Forces and Moment
237(3)
9.5.2 Steering Machine Dynamics
240(3)
9.6 Fin Stabilizators
243(2)
9.6.1 Lift and Drag Forces on Fins
244(1)
9.6.2 Roll Moment Produced by Symmetrical Fin Stabilizers
245(1)
9.7 Underwater Vehicle Control Surfaces
245(4)
9.7.1 Rudder
247(1)
9.7.2 Dive Planes
248(1)
9.8 Control Moment Gyroscope
249(9)
9.8.1 Ship Roll Gyrostabilizer
249(3)
9.8.2 Control Moment Gyros for Underwater Vehicles
252(6)
9.9 Moving Mass Actuators
258(3)
10 Environmental Forces and Moments
261(48)
10.1 Wind Forces and Moments
263(11)
10.1.1 Wind Forces and Moments on Marine Craft at Rest
263(2)
10.1.2 Wind Forces and Moments on Moving Marine Craft
265(1)
10.1.3 Wind Coefficients Based on Helmholtz-Kirchhoff Plate Theory
266(3)
10.1.4 Wind Coefficients for Merchant Ships
269(2)
10.1.5 Wind Coefficients for Very Large Crude Carriers
271(1)
10.1.6 Wind Coefficients for Large Tankers and Medium-sized Ships
272(1)
10.1.7 Wind Coefficients for Moored Ships and Floating Structures
272(2)
10.2 Wave Forces and Moments
274(26)
10.2.1 Sea-state Descriptions
275(1)
10.2.2 Wave Spectra
276(11)
10.2.3 Wave Amplitude Response Model
287(3)
10.2.4 Force RAOs
290(3)
10.2.5 Motion RAOs
293(3)
10.2.6 State-space Models for Wave Response Simulation
296(4)
10.3 Ocean Current Forces and Moments
300(9)
10.3.1 3D Irrotational Ocean Current Model
303(1)
10.3.2 2D Irrotational Ocean Current Model
304(5)
Part Two Motion Control
11 Introduction to Part II
309(22)
11.1 Guidance, Navigation and Control Systems
310(6)
11.1.1 Historical Remarks
312(2)
11.1.2 Autopilots
314(1)
11.1.3 Dynamic Positioning and Position Mooring Systems
315(1)
11.1.4 Waypoint Tracking and Path following Control Systems
316(1)
11.2 Control Allocation
316(15)
11.2.1 Propulsion and Actuator Models
318(4)
11.2.2 Unconstrained Control Allocation
322(2)
11.2.3 Constrained Control Allocation
324(7)
12 Guidance Systems
331(56)
12.1 Trajectory Tracking
333(8)
12.1.1 Reference Models for Trajectory Generation
334(5)
12.1.2 Trajectory Generation using a Marine Craft Simulator
339(1)
12.1.3 Optimal Trajectory Generation
340(1)
12.2 Guidance Laws for Target Tracking
341(5)
12.2.1 Line-of-sight Guidance Law
342(1)
12.2.2 Pure-pursuit Guidance Law
343(1)
12.2.3 Constant Bearing Guidance Law
344(2)
12.3 Linear Design Methods for Path Following
346(7)
12.3.1 Waypoints
346(1)
12.3.2 Path Generation using Straight Lines and Inscribed Circles
347(2)
12.3.3 Straight-line Paths Based on Circles of Acceptance
349(2)
12.3.4 Path Generation using Dubins Path
351(1)
12.3.5 Transfer Function Models for Straight-line Path Following
352(1)
12.4 LOS Guidance Laws for Path Following using Course Autopilots
353(10)
12.4.1 Vector-field Guidance Law
354(2)
12.4.2 Proportional LOS Guidance Law
356(3)
12.4.3 Lookahead- and Enclosure-based LOS Steering
359(2)
12.4.4 Integral LOS
361(2)
12.5 LOS Guidance Laws for Path Following using Heading Autopilots
363(2)
12.5.1 Crab Angle Compensation by Direct Measurements
363(1)
12.5.2 Integral LOS
364(1)
12.6 Curved-Path Path Following
365(22)
12.6.1 Path Generation using Interpolation Methods
366(12)
12.6.2 Proportional LOS Guidance Law for Curved Paths
378(2)
12.6.3 Path-following using Serret-Frenet Coordinates
380(4)
12.6.4 Case Study: Path-following Control using Serret-Frenet Coordinates
384(3)
13 Model-based Navigation Systems
387(56)
13.1 Sensors for Marine Craft
387(4)
13.1.1 GNSS Position
388(1)
13.1.2 GNSS Heading
389(1)
13.1.3 Magnetic Compass
390(1)
13.1.4 Gyrocompass
390(1)
13.2 Wave Filtering
391(12)
13.2.1 Low-pass Filtering
393(3)
13.2.2 Cascaded Low-pass and Notch Filtering
396(1)
13.2.3 Wave-frequency Estimation
397(6)
13.3 Fixed-gain Observer Design
403(5)
13.3.1 Observability
403(2)
13.3.2 Luenberger Observer
405(1)
13.3.3 Case Study: Luenberger Observer for Heading Autopilot
406(2)
13.4 Kalman Filter Design
408(16)
13.4.1 Discrete-time Kalman Filter
408(3)
13.4.2 Discrete-time Extended Kalman Filter
411(1)
13.4.3 Modification for Euler Angles to Avoid Discontinuous Jumps
412(3)
13.4.4 Modification for Asynchronous Measurement Data
415(1)
13.4.5 Case Study: Kalman Filter Design for Heading Autopilots
416(3)
13.4.6 Case Study: Kalman Filter for Dynamic Positioning Systems
419(5)
13.5 Passive Observer Design
424(19)
13.5.1 Case Study: Passive Observer for Dynamic Positioning using GNSS and Compass Measurements
424(9)
13.5.2 Case Study: Passive Observer for Heading Autopilots using only Compass Measurements
433(7)
13.5.3 Case Study: Passive Observer for Heading Autopilots using both Compass and Angular Rate Sensor Measurements
440(3)
14 Inertial Navigation Systems
443(50)
14.1 Inertial Measurement Unit
444(7)
14.1.1 Attitude Rate Sensors
446(1)
14.1.2 Accelerometers
446(3)
14.1.3 Magnetometer
449(2)
14.2 Attitude Estimation
451(6)
14.2.1 Static Mapping from Specific Force to Roll and Pitch Angles
451(1)
14.2.2 Vertical Reference Unit ( VRU) Transformations
452(1)
14.2.3 Nonlinear Attitude Observer using Reference Vectors
453(4)
14.3 Direct Filters for Aided INS
457(10)
14.3.1 Fixed-gain Observer using Attitude Measurements
458(4)
14.3.2 Direct Kalman Filter using Attitude Measurements
462(3)
14.3.3 Direct Kalman Filter with Attitude Estimation
465(2)
14.4 Indirect Filters for Aided INS
467(26)
14.4.1 Introductory Example
469(3)
14.4.2 Error-state Kalman Filter using Attitude Measurements
472(8)
14.4.3 Error-state Extended Kalman Filter with Attitude Estimation
480(13)
15 Motion Control Systems
493(56)
15.1 Open-Loop Stability and Maneuverability
494(22)
15.1.1 Straight-line, Directional and Positional Motion Stability
495(9)
15.1.2 Maneuverability
504(12)
15.2 Autopilot Design Using Successive Loop Closure
516(7)
15.2.1 Successive Loop Closure
516(2)
15.2.2 Case Study: Heading Autopilot for Marine Craft
518(1)
15.2.3 Case Study: Path-following Control System for Marine Craft
519(2)
15.2.4 Case Study: Diving Autopilot for Underwater Vehicles
521(2)
15.3 PID Pole-Placement Algorithms
523(26)
15.3.1 Linear Mass-Damper-Spring Systems
523(4)
15.3.2 SISO Linear PID Control
527(2)
15.3.3 MIMO Nonlinear PID Control
529(3)
15.3.4 Case Study: Heading Autopilot for Marine Craft
532(6)
15.3.5 Case Study: LOS Path following Control for Marine Craft
538(2)
15.3.6 Case Study: Dynamic Positioning System for Surface Vessels
540(6)
15.3.7 Case Study: Position Mooring System for Surface Vessels
546(3)
16 Advanced Motion Control Systems
549(102)
16.1 Linear-quadratic Optimal Control
550(30)
16.1.1 Linear-quadratic Regulator
550(2)
16.1.2 LQR Design for Trajectory Tracking and Integral Action
552(2)
16.1.3 General Solution of the LQ Trajectory-tracking Problem
554(6)
16.1.4 Operability and Motion Sickness Incidence Criteria
560(2)
16.1.5 Case Study: Optimal Heading Autopilot for Marine Craft
562(4)
16.1.6 Case Study: Optimal DP System for Surface Vessels
566(4)
16.1.7 Case Study: Optimal Rudder-roll Damping Systems for Ships
570(9)
16.1.8 Case Study: Optimal Fin and RRD Systems for Ships
579(1)
16.2 State Feedback Linearization
580(6)
16.2.1 Decoupling in the BODY Frame ( Velocity Control)
581(1)
16.2.2 Decoupling in the NED Frame ( Position and Attitude Control)
582(2)
16.2.3 Case Study: Speed Control Based on Feedback Linearization
584(1)
16.2.4 Case Study: Autopilot Based on Feedback Linearization
585(1)
16.3 Integrator Backstepping
586(48)
16.3.1 A Brief History of Backstepping
586(1)
16.3.2 The Main Idea of Integrator Backstepping
587(7)
16.3.3 Backstepping of SISO Mass-Damper-Spring Systems
594(3)
16.3.4 Integral Action by Constant Parameter Adaptation
597(2)
16.3.5 Integrator Augmentation Technique
599(3)
16.3.6 Case Study: Backstepping Design for Mass-Damper-Spring
602(2)
16.3.7 Case Study: Backstepping Design for Robot Manipulators
604(2)
16.3.8 Case Study: Backstepping Design for Surface Craft
606(4)
16.3.9 Case Study: Autopilot Based on Backstepping
610(1)
16.3.10 Case Study: Path following Controller for Underactuated Marine Craft
611(5)
16.3.11 Case Study: Weather Optimal Position Control
616(18)
16.4 Sliding Mode Control
634(17)
16.4.1 Conventional Integral S MC fbr Second-order Systems
634(3)
16.4.2 Conventional Integral SMC for Third-order Systems
637(1)
16.4.3 Super-twisting Adaptive Sliding Mode Control
637(2)
16.4.4 Case Study: Heading Autopilot Based on Conventional Integral SMC
639(4)
16.4.5 Case Study: Depth Autopilot for Diving Based on Conventional Integral SMC
643(3)
16.4.6 Case Study: Heading Autopilot Based on the Adaptive-gain Super Twisting Algorithm
646(5)
Part Three Appendices
A Nonlinear Stability Theory
651(10)
A.1 Lyapunov Stability for Autonomous Systems
651(5)
A.1.1 Stability and Convergence
651(2)
A.1.2 Lyapunov's Direct Method
653(1)
A.1.3 Krasovskii-LaSalle's Theorem
654(1)
A.1.4 Global Exponential Stability
655(1)
A.2 Lyapunov Stability of Non-autonomous Systems
656(5)
A.2.1 Barbellat's Lemma
656(1)
A.2.2 LaSalle-Yoshizawa's Theorem
656(1)
A.2.3 On USGES of Proportional Line-of-sight Guidance Laws
657(1)
A.2.4 UGAS when Backstepping with Integral Action
658(3)
B Numerical Methods
661(8)
B.1 Discretization of Continuous-time Systems
661(2)
B.1.1 State-space Models
661(2)
B.1.2 Computation of the Transition Matrix
663(1)
B.2 Numerical Integration Methods
663(3)
B.2.1 Euler's Method
664(1)
B.2.2 Adams-Bashford's Second-order Method
665(1)
B.2.3 Runge-Kutta Second-order Method
666(1)
B.2.4 Runge-Kutta Fourth-order Method
666(1)
B.3 Numerical Differentiation
666(3)
C Model Transformations
669(6)
C.1 Transforming the Equations of Motion to an Arbitrarily Point
669(3)
C1.1 System Transformation Matrix
669(2)
C1.2 Equations of Motion About an Arbitrarily Point
671(1)
C.2 Matrix and Vector Transformations
672(3)
D Non-dimensional Equations of Motion
675(6)
D.1 Non-dimensionalization
675(3)
D.1.1 Non-dimensional Hydrodynamic Coefficients
676(1)
D.1.2 Non-dimensional Nomoto Models
677(1)
D.1.3 Non-dmensional Maneuvering Models
678(1)
D.2 6-DOF Procedure for Non-dimensionalization
678(3)
References 681(20)
Index 701
Thor I. Fossen is a naval architect, cyberneticist, and Professor of Guidance, Navigation, and Control at the Norwegian University of Science and Technology. He received his MS in Naval Architecture and his PhD in Engineering and Cybernetics from the Norwegian Institute of Technology. Fossen was elected to the Norwegian Academy of Technological Sciences in 1998 and became an Institute of Electrical and Electronics Engineers (IEEE) Fellow in 2016.