Handbook of Marine Craft Hydrodynamics and Motion Control
The "Handbook of Marine Craft Hydrodynamics and Motion Control" offers a comprehensive exploration of cutting-edge developments in the fields of marine craft hydrodynamics and guidance, navigation, and control (GNC) systems. The text establishes how mathematical models and modern control theory can be implemented to simulate and verify control systems.
The textbook is used in the graduate course TTK4190 Guidance, Navigation and Control of Vehicles at the Norwegian University of Science and Technology. Complementary slides can be downloaded below.
|Chapters||PDF Slides||Last Modified|
|Part 1: Marine Craft Hydrodynamics|
|1||Introduction to Part I||Ch1.pdf||2023-08-08|
|7||Autopilot Models for Course and Heading Control||Ch7.pdf||2023-08-10|
|8||Models for Underwater Vehicles||Ch8.pdf||2023-08-15|
|9||Control Forces and Moments||Ch9.pdf||2023-03-29|
|10||Environmental Forces and Moments||Ch10.pdf||2022-06-18|
|Part 2: Motion Control Systems|
|11||Introduction to Part II||Ch11.pdf||2021-05-20|
|13||Model-Based Navigation Systems||Ch13.pdf||2022-11-04|
|14||Inertial Navigation Systems||Ch14.pdf||2023-08-01|
|15||Motion Control Systems||Ch15.pdf||2023-09-02|
|16||Advanced Motion Control Systems||Ch16.pdf||2021-06-25|
|Part III: Appendices|
|A||Nonlinear Stability Theory|
|D||Non-dimensional Equations of Motion|
MSS (Marine Systems Simulator)
The Marine Systems Simulator (MSS) is a complementary Matlab and Simulink library for the simulation of marine systems. It includes models for ships, autonomous underwater vehicles (AUVs), unmanned surface vehicles (USVs), and floating structures. The library also contains guidance, navigation, and control (GNC) systems for real-time simulation.
Python Vehicle Simulator
The Python Vehicle Simulator supplements the Matlab MSS (Marine Systems Simulator) toolbox. It includes models for autonomous underwater vehicles (AUVs), unmanned surface vehicles (USVs), and ships. The vehicle models are based on the MSS vessel models in the /MSS/VESSELS/catalog. Each vehicle is modeled as an object in Python, and the vehicle class has methods for guidance, navigation, and control. The main program main.py is used to define vehicle objects for real-time simulation.