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Control of Marine Vehicles 2021 ed. [Hardback]

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Control of Marine Vehicles 2021 ed.Palielināt
Citas grāmatas par šo tēmu:
Permanent link: https://www.kriso.lv/db/9783030750206.html
Keywords:
This textbook offers a comprehensive introduction to the control of marine vehicles, from fundamental to advanced concepts, including robust control techniques for handling model uncertainty, environmental disturbances, and actuator limitations. Starting with an introductory chapter that extensively reviews automatic control and dynamic modeling techniques for ocean vehicles, the first part of the book presents in-depth information on the analysis and control of linear time invariant systems.





The concepts discussed are developed progressively, providing a basis for understanding more complex techniques and stimulating readers intuition. In addition, selected examples illustrating the main concepts, the corresponding MATLAB® code, and problems are included in each chapter.





In turn, the second part of the book offers comprehensive coverage on the stability and control of nonlinear systems. Following the same intuitive approach, it guides readers from the fundamentals to more advanced techniques, which culminate in integrator backstepping, adaptive and sliding mode control.  Leveraging the authors considerable teaching and research experience, the book offers a good balance of theory and stimulating questions. Not only does it provide a valuable resource for undergraduate and graduate students; it will also benefit practitioners who want to review the foundational concepts underpinning some of the latest advanced marine vehicle control techniques, for use in their own applications.
1 Introduction
1(42)
1.1 Overview
1(1)
1.2 Automatic Control
1(4)
1.3 Background Ideas
5(3)
1.4 Typical Guidance, Navigation and Control Architectures of Marine Vehicles
8(5)
1.4.1 Multilayered Software Architectures for Unmanned Vehicles
10(1)
1.4.2 Inter-Process Communications Methods
11(2)
1.5 Dynamic Modeling of Marine Vehicles
13(21)
1.5.1 Kinematics of Marine Vehicles
15(17)
1.5.2 Kinetics of Marine Vehicles
32(2)
Problems
34(4)
References
38(5)
Part I Linear Methods
2 Stability: Basic Concepts and Linear Stability
43(36)
2.1 The Stability of Marine Systems
43(1)
2.2 Basic Concepts in Stability
44(1)
2.3 Flow Along a Line
45(5)
2.3.1 Linear 1D Stability Analysis
46(4)
2.4 Phase Plane Analysis
50(12)
2.4.1 Linear 2D Stability Analysis
51(1)
2.4.2 Classification of Linear 2D Systems
52(10)
2.5 Lyapunov's Indirect (First) Method
62(1)
2.6 Stability of Linear Time Invariant Systems
63(10)
2.6.1 The Laplace Transform
64(7)
2.6.2 Routh's Stability Criterion
71(2)
Problems
73(4)
References
77(2)
3 Time Response and Basic Feedback Control
79(40)
3.1 Dynamic Response
79(10)
3.1.1 The Impulse Response of 1st and 2nd Order Systems
79(3)
3.1.2 The Step Response of 2nd Order Systems
82(3)
3.1.3 Effects of Additional Poles and Zeros
85(4)
3.2 Block Diagrams
89(1)
3.3 Feedback Control
90(14)
3.3.1 Proportional Feedback Control
93(2)
3.3.2 Derivative Feedback Control
95(1)
3.3.3 Integral Feedback Control
96(2)
3.3.4 PID Feedback Control
98(6)
3.4 Steady State Response
104(3)
3.5 Additional Performance Measures
107(1)
Appendix
108(2)
Problems
110(7)
References
117(2)
4 Root Locus Methods
119(38)
4.1 Introduction
119(1)
4.2 Root-Locus Diagrams
119(11)
4.2.1 Constructing a Root-Locus
122(2)
4.2.2 Properties of the Root Locus
124(6)
4.3 Root Locus Controller Design Methods
130(15)
4.3.1 Selecting Gain from the Root Locus
130(2)
4.3.2 Compensation by Adding or Moving Poles and Zeros
132(1)
4.3.3 Phase Lag Controllers
133(5)
4.3.4 Phase Lead Controllers
138(7)
4.4 General Guidelines for Root Locus Controller Design
145(1)
4.5 Matlab for Root Locus Analysis and Controller Design
145(6)
4.5.1 Constructing a Root Locus with Matlab
145(1)
4.5.2 Use of Matlab for Designing a Phase Lag Controller
146(3)
4.5.3 Use of Matlab for Designing a Phase Lead Controller
149(2)
Problems
151(4)
References
155(2)
5 Frequency Response Methods
157(54)
5.1 Frequency Domain Analysis
157(2)
5.2 The Nyquist Criterion
159(6)
5.2.1 Nyquist Plots
160(1)
5.2.2 General Nyquist Criterion
161(3)
5.2.3 Stability Margins
164(1)
5.3 Bode Diagrams
165(8)
5.3.1 Constructing A Bode Diagram
167(6)
5.4 Assessing Closed Loop Stability from the Bode Diagram
173(4)
5.4.1 Time Delays
176(1)
5.5 Dynamic Response from the Bode Diagram
177(5)
5.5.1 Closed Loop Frequency Response
179(3)
5.6 Steady-State Response from the Bode Diagram
182(1)
5.7 Controller Design in the Frequency Domain
183(14)
5.7.1 Phase Lag Controllers
184(3)
5.7.2 Phase Lead Controllers
187(5)
5.7.3 Lead-Lag or PID Controllers
192(3)
5.7.4 Summary of Compensator Design in the Frequency Domain
195(2)
5.8 Matlab for Frequency Response Analysis and Control Design
197(7)
5.8.1 Nyquist Plots
197(1)
5.8.2 Bode Plots
197(4)
5.8.3 Matlab for Constructing A PD Controller
201(3)
Problems
204(5)
References
209(2)
6 Linear State Space Control Methods
211(56)
6.1 Introduction
211(4)
6.1.1 State Variables
211(4)
6.2 Reachability/Controllability
215(6)
6.2.1 Reachable Canonical Form
217(4)
6.3 State Feedback
221(16)
6.3.1 Where Do I Place the Poles for State Feedback?
223(4)
6.3.2 Reachable Canonical Form for State Feedback
227(1)
6.3.3 Eigenvalue Assignment
228(1)
6.3.4 State Space Integral Control
229(1)
6.3.5 Linear Quadratic Regulators
230(7)
6.4 Observability
237(5)
6.4.1 Observable Canonical Form
238(4)
6.5 State Estimation
242(2)
6.5.1 Where Do I Place the Observer Poles?
243(1)
6.6 Separation Principle
244(1)
6.7 Two Degree of Freedom Controllers
245(1)
6.8 Linear Disturbance Observer Based Control
246(3)
6.9 Matlab for State Space Controller and Observer Design
249(6)
Problems
255(7)
References
262(5)
Part II Nonlinear Methods
7 Nonlinear Stability for Marine Vehicles
267(48)
7.1 Introduction
267(1)
7.2 Stability of Time-Invariant Nonlinear Systems
268(13)
7.2.1 Stability Definitions
268(3)
7.2.2 Lyapunov's Second (Direct) Method
271(10)
7.3 Invariant Set Theorem
281(4)
7.4 Stability of Time-Varying Nonlinear Systems
285(3)
7.5 Input-to-State Stability
288(2)
7.6 Ultimate Boundedness
290(5)
7.7 Practical Stability
295(7)
7.8 Barbalat's Lemma
302(2)
7.9 Summary
304(1)
Problems
305(8)
References
313(2)
8 Feedback Linearization
315(50)
8.1 Introduction
315(1)
8.2 Inverse Dynamics
316(2)
8.2.1 Body-Fixed Frame Inverse Dynamics
316(1)
8.2.2 NED Frame Inverse Dynamics
317(1)
8.3 Fundamental Concepts in Feedback Linearization
318(4)
8.3.1 Use of a Linearizing Control Law
318(2)
8.3.2 Coordinate Transformations for Feedback Linearization
320(2)
8.4 Structural Properties of Feedback-Linearizable Systems
322(15)
8.4.1 Manifolds, Lie Derivatives, Lie Brackets and Vector Fields
326(9)
8.4.2 Frobenius Theorem
335(2)
8.5 Input-State Linearization
337(8)
8.6 Input-Output Linearization
345(12)
8.6.1 Relative Degree
347(2)
8.6.2 The Normal Form and Zero Dynamics
349(1)
8.6.3 Stabilization
350(1)
8.6.4 Tracking
351(6)
Problems
357(6)
References
363(2)
9 Control of Underactuated Marine Vehicles
365(56)
9.1 Introduction
365(4)
9.2 The Terminology of Underactuated Vehicles
369(1)
9.3 Motion Constraints
370(2)
9.4 The Dynamics of Underactuated Marine Vehicles
372(5)
9.4.1 The Dynamics of Underactuated Surface Vessels
374(3)
9.5 Stabilization of Nonholonomic Vehicles
377(18)
9.5.1 The Controllability of Nonlinear Systems
378(5)
9.5.2 Stabilization of Nonholonomic Systems
383(1)
9.5.3 Chained Forms
384(11)
9.6 Path-Following Control for Surface Vessels
395(10)
9.6.1 Surge Speed Control
396(1)
9.6.2 Control of the Cross-Track Error
397(5)
9.6.3 Waypoint Switching
402(3)
9.6.4 Other Path Following Approaches
405(1)
9.7 Trajectory Tracking for Underactuated Surface Vessels
405(9)
9.7.1 Point-to-Point Motion Planning
406(2)
9.7.2 Desired Heading and Feedforward Control Inputs
408(6)
Problems
414(5)
References
419(2)
10 Integrator Backstepping and Related Techniques
421(48)
10.1 Introduction
421(1)
10.2 Integrator Backstepping
422(16)
10.2.1 A Simple 2-State SISO System
422(6)
10.2.2 More General 2-State and 3-State SISO Systems
428(4)
10.2.3 Generalized n-State SISO Systems: Recursive Backstepping
432(3)
10.2.4 Vectorial Backstepping for MIMO Systems
435(3)
10.3 Backstepping for Trajectory Tracking Marine Vehicles
438(9)
10.3.1 Straight-Forward Backstepping
439(1)
10.3.2 Passivity-Based Backstepping
440(3)
10.3.3 Backstepping Implementation Issues
443(4)
10.4 Augmented Integrator Backstepping
447(4)
10.5 Dynamic Surface Control
451(5)
10.5.1 DSC for Trajectory Tracking Marine Vehicles
454(2)
10.6 Actuator Constraints
456(2)
10.7 Nonlinear Disturbance Observer Based Control
458(3)
Problems
461(6)
References
467(2)
11 Adaptive Control
469(20)
11.1 Introduction
469(1)
11.2 Model Reference Adaptive Control
470(4)
11.3 Adaptive SISO Control via Feedback Linearization
474(4)
11.4 Adaptive MIMO Control via Feedback Linearization
478(5)
Problems
483(5)
References
488(1)
12 Sliding Mode Control
489
12.1 Introduction
489(2)
12.2 Linear Feedback Control Under the Influence of Disturbances
491(3)
12.3 First Order Sliding Mode Control
494(5)
12.4 Chattering Mitigation
499(2)
12.5 Equivalent Control
501(1)
12.6 Summary of First Order Sliding Mode Control
502(1)
12.7 Stabilization Versus Tracking
503(1)
12.8 SISO Super-Twisting Sliding Mode Control
504(3)
12.9 MIMO Super-Twisting Sliding Modes
507(1)
12.10 Higher Order Sliding Mode Differentiation
508(2)
12.11 An HOSM Controller-Observer
510(2)
12.12 An HOSM Controller-Observer for Marine Vehicles
512(9)
Problems
521(4)
References
525
Index 52
Karl von Ellenrieder received his B.S. degree in aeronautics and astronautics, with a specialty in avionics, from the Massachusetts Institute of Technology (USA) in 1990, and the M.S. and Ph.D. degrees in aeronautics and astronautics from Stanford University, (USA) in 1992 and 1998, respectively. Since 2016, he has been a Full Professor of Automation in the Faculty of Science and Technology at the Free University of Bozen-Bolzano (Italy). From 2003 to 2016, he was with the Department of Ocean & Mechanical Engineering at Florida Atlantic University (USA) where, after being promoted through the ranks from Assistant Professor to Associate Professor, he ultimately served as a Full Professor of Ocean Engineering and as the Associate Director of the SeaTech Institute for Ocean Systems Engineering. His research interests include automatic control, the development of robotic unmanned vehicles, human-robot interaction, and the experimental testing of field robots.