Handbook of Marine Craft Hydrodynamics and Motion Control (PDF)

The technology of hydrodynamic modeling and marine craft motioncontrol systems has progressed greatly in recent years. This timelysurvey includes the latest tools for analysis and design ofadvanced guidance, navigation and control systems and presents newmaterial on underwater vehicles and surface vessels. Each sectionpresents numerous case studies and applications, providing apractical understanding of how model-based motion control systemsare designed.

Key features include:
* a three-part structure covering Modeling of Marine Craft;Guidance, Navigation and Control Systems; and Appendices, providingall the supporting theory in a single resource
* kinematics, kinetics, hydrostatics, seakeeping and maneuveringtheory, and simulation models for marine craft and environmentalforces
* guidance systems, sensor fusion and integrated navigationsystems, inertial measurement units, Kalman filtering and nonlinearobserver design for marine craft
* state-of-the-art methods for feedback control
* more advanced methods using nonlinear theory, enabling the userto compare linear design techniques before a final implementationis made.
* linear and nonlinear stability theory, and numericalmethods
* companion website that hosts links to lecture notes anddownload information for the Marine Systems Simulator (MSS) whichis an open source Matlab/Simulink® toolbox for marine systems.The MSS toolbox includes hydrodynamic models and motion controlsystems for ships, underwater vehicles and floating structures

With an appropriate balance between mathematical theory andpractical applications, academic and industrial researchers workingin marine and control engineering aspects of manned and unmannedmaritime vehicles will benefit from this comprehensive handbook. Itis also suitable for final year undergraduates and postgraduates,lecturers, development officers, and practitioners in the areas ofrigid-body modeling, hydrodynamics, simulation of marine craft,control and estimation theory, decision-support systems and sensorfusion. www.wiley.com/go/fossen_marine