CONTROL OF SHIPS AND UNDERWATER VEHICLES

By O. ELENI

CONTENTS INTRODUCTION OVERVIEW OF NONLINEAR CONTROL DEVELOPMENTS DIF?CULTIES IN CONTROL OF UNDERACTUATED OCEAN VESSELS ORGANIZATION OF THE BOOK PART I MATHEMATICAL TOOLS MATHEMATICAL PRELIMINARIES LYAPUNOV STABILITY DE?NITIONS LEMMAS AND THEOREMS STABILITY OF CASCADE SYSTEMS INPUT-TO-STATE STABILITY CONTROL LYAPUNOV FUNCTIONS BACKSTEPPING STABILIZATION UNDER UNCERTAINTIES BARBALAT-LIKE LEMMAS CONTROLLABILITY AND OBSERVABILITY CONTROLLABILITY AND OBSERVABILITY OF LINEAR TIME-INVARIANT SYSTEMS CONTROLLABILITY AND OBSERVABILITY OF LINEAR TIME-VARYING SYSTEMS CONTROLLABILITY AND OBSERVABILITY OF NONLINEAR SYSTEMS BROCKETT’S THEOREM ON FEEDBACK STABILIZATION CONCLUSIONS PART II MODELING AND CONTROL PROPERTIES OF OCEAN VESSELS MODELING OF OCEAN VESSELS BASIC MOTION TASKS KINEMATICS KINETICS STANDARD MODELS FOR OCEAN VESSELS THREE DEGREES OF FREEDOM HORIZONTAL MODEL SIX DEGREES OF FREEDOM MODEL CONTROL PROPERTIES AND PREVIOUS WORK ON CONTROL OF OCEAN VESSELS CONTROLLABILITY PROPERTIES ACCELERATION CONSTRAINTS KINEMATIC CONSTRAINTS CONTROLLABILITY AT A POINT CONTROLLABILITY ABOUT A TRAJECTORY PREVIOUS WORK ON CONTROL OF UNDERACTUATED OCEAN VESSELS CONTROL OF NONHOLONOMIC SYSTEMS CONTROL OF UNDERACTUATED SHIPS AND UNDERWATER VEHICLES PART III CONTROL OF UNDERACTUATED SHIPS TRAJECTORY-TRACKING CONTROL OF UNDERACTUATED SHIPS CONTROL OBJECTIVE CONTROL DESIGN STABILITY ANALYSIS SIMULATIONS SIMULTANEOUS STABILIZATION AND TRAJECTORY-TRACKING CONTROL OF UNDERACTUATED SHIPS SELECTION OF DESIGN CONSTANTS SENSITIVITY ANALYSIS PARTIAL-STATE AND OUTPUT FEEDBACK TRAJECTORY-TRACKING CONTROL OF UNDERACTUATED SHIPS PARTIAL-STATE FEEDBACK OBSERVER DESIGN COORDINATE TRANSFORMATIONS OUTPUT FEEDBACK ROBUSTNESS DISCUSSION PATH-TRACKING CONTROL OF UNDERACTUATED SHIPS FULL-STATE FEEDBACK DEALING WITH ENVIRONMENTAL DISTURBANCES NUMERICAL SIMULATIONS CONTROL DESIGN WITH INTEGRAL ACTION DISCUSSION EXPERIMENTAL RESULTS WAY-POINT TRACKING CONTROL OF UNDERACTUATED SHIPS FULL-STATE FEEDBACK STATE FEEDBACK SIMULATION RESULTS OUTPUT FEEDBACK SIMULATION RESULTS PATH-FOLLOWING OF UNDERACTUATED SHIPS USING SERRET–FRENET COORDINATES 10 1 CONTROL OBJECTIVE 10 2 STATE FEEDBACK 10 2 1 CONTROL DESIGN 10 2 2 STABILITY ANALYSIS 10 3 OUTPUT FEEDBACK 10 3 1 OBSERVER DESIGN 10 3 2 CONTROL DESIGN 10 3 3 STABILITY ANALYSIS 10 4 SIMULATIONS 10 4 1 STATE FEEDBACK SIMULATION RESULTS 10 4 2 OUTPUT FEEDBACK SIMULATION RESULTS 10 5 CONCLUSIONS PATH-FOLLOWING OF UNDERACTUATED SHIPS USING POLAR COORDINATES 11 1 CONTROL OBJECTIVE 11 2 CONTROL DESIGN 11 2 1 STEP 1 11 2 2 STEP 2 11 3 STABILITY ANALYSIS 11 4 DISCUSSION OF THE INITIAL CONDITION 11 5 PARKING AND POINT-TO-POINT NAVIGATION 11 5 1 PARKING 11 5 2 POINT-TO-POINT NAVIGATION 11 6 NUMERICAL SIMULATIONS 11 6 1 PATH-FOLLOWING SIMULATION RESULTS 11 6 2 POINT-TO-POINT SIMULATION RESULTS 11 6 3 PARKING SIMULATION RESULTS 11 7 CONCLUSIONS PART IV CONTROL OF UNDERACTUATED UNDERWATER VEHICLES TRAJECTORY-TRACKING CONTROL OF UNDERACTUATED UNDERWATER VEHICLES 12 1 CONTROL OBJECTIVE 12 2 COORDINATE TRANSFORMATIONS 12 3 CONTROL DESIGN 12 3 1 STEP 1 12 3 2 STEP 2 12 4 STABILITY ANALYSIS 12 5 SIMULATIONS 12 6 CONCLUSIONS PATH-FOLLOWING OF UNDERACTUATED UNDERWATER VEHICLES 13 1 CONTROL OBJECTIVE 13 2 COORDINATE TRANSFORMATIONS 13 3 CONTROL DESIGN 13 4 STABILITY ANALYSIS 13 5 DISCUSSION OF THE INITIAL CONDITION 13 6 PARKING AND POINT-TO-POINT NAVIGATION 13 6 1 PARKING 13 6 2 POINT-TO-POINT NAVIGATION 13 7 NUMERICAL SIMULATIONS 13 8 CONCLUSIONS PART V CONTROL OF OTHER UNDERACTUATED MECHANICAL SYSTEMS CONTROL OF OTHER UNDERACTUATED MECHANICAL SYSTEMS 14 1 MOBILE ROBOTS 14 1 1 BASIC MOTION TASKS 14 1 2 MODELING AND CONTROL PROPERTIES 14 1 3 OUTPUT FEEDBACK SIMULTANEOUS STABILIZATION AND TRAJECTORY-TRACKING 14 1 4 OUTPUT FEEDBACK PATH-FOLLOWING 14 1 5 NOTES AND REFERENCES 14 2 VERTICAL TAKE-OFF AND LANDING AIRCRAFT 14 2 1 CONTROL OBJECTIVE 14 2 2 OBSERVER DESIGN 14 2 3 COORDINATE TRANSFORMATIONS 14 2 4 CONTROL DESIGN 14 2 5 SIMULATIONS 14 2 6 NOTES AND REFERENCES 14 3 CONCLUSIONS CONCLUSIONS AND PERSPECTIVES 15 1 SUMMARY OF THE BOOK 15 2 PERSPECTIVES AND OPEN PROBLEMS 15 2 1 FURTHER ISSUES ON CONTROL OF SINGLE UNDERACTUATED OCEAN VESSELS 15 2 2 COORDINATION CONTROL OF MULTIPLE UNDERACTUATED OCEAN VESSELS REFERENCES