Thor I. Fossen 
Department of Engineering Cybernetics
Norwegian Univ. of Science and Technology 

ISBN 0-471-94113-1  (John Wiley & Sons Ltd, 1994, UK) 

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Abstract
Offering a comprehensive treatment of automatic control systems for marine vehicles, this expertly written text ensures that the subject matter is both balanced and extensive. This book gives detailed coverage of mathematical modeling, with appropriate forms of both linear and nonlinear models to describe the dynamic and kinematic equations of motion of marine vehicles and the subject of stability and control. It also explores in depth the modeling of ocean vehicles, environmental disturbances, and the sensor and navigation systems, as well as discussing in length the applications of modern control theory. 

Implementations, examples and case studies of autonomous underwater vehicles, naval and merchant ships and high-speed crafts are used to demonstrate the performance and robustness of the proposed control systems. 

Intended primarily as a textbook for senior and graduate students with some background in control engineering and calculus, this book comes complete with useful and detailed references, examples and exercises. 

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Table of Contents

  • 1 Introduction
  • 2 Modeling of Marine Vehicles
    • 2.1 Kinematics
    • 2.2 Newtonian and Lagrangian Mechanics
    • 2.3 Rigid-Body Dynamics
    • 2.4 Hydrodynamic Forces and Moments
    • 2.5 Equations of Motion
  • 3 Environmental Disturbances
    • 3.1 The Principle of Superposition
    • 3.2 Wind-Generated Waves
    • 3.3 Wind
    • 3.4 Ocean Currents
  • 4 Stability and Control of Underwater Vehicles
    • 4.1 ROV Equations of Motion
    • 4.2 Stability of Underwater Vehicles
    • 4.3 Conventional Autopilot Design
    • 4.4 Decoupled Control Design
    • 4.5 Advanced Autopilot Design for ROVs
  • 5 Dynamics and Stability of Ships
    • 5.1 Rigid-Body Ship Dynamics
    • 5.2 The Speed Equation
    • 5.3 The Linear Ship Steering Equations
    • 5.4 The Steering Machine
    • 5.5 Stability of Ships
    • 5.6 Nonlinear Ship Steering Equations
    • 5.7 Coupled Equations for Steering and Rolling
    • 5.8 Steering Maneuvering Characteristics
  • 6 Automatic Control of Ships
    • 6.1 Filtering of First-Order Wave Disturbances
    • 6.2 Forward Speed Control
    • 6.3 Course-Keeping Autopilots
    • 6.4 Turning Controllers
    • 6.5 Track-Keeping Systems
    • 6.6 Rudder-Roll Stabilization
    • 6.7 Dynamic Ship Positioning Systems
    • 6.8 Identification of Ship Dynamics
  • 7 Control of High Speed Crafts
    • 7.1 Ride Control of Surface Effect Ships
    • 7.2 Ride Control of Foilborne Catamarans
  • A Some Matrix Results
  • B Numerical Methods
    • B.1 Discretization of Continuous-Time Systems
    • B.2 Numerical Integration
    • B.3 Numerical Differentiation
  • C Stability Theory
    • C.1 Lyapunov Stability Theory
    • C.2 Input-Output Stability
    • C.3 Passivity Theory
  • D Linear Quadratic Optimal Control
    • D.1 Solution to the LQ Tracking Problem
    • D.2 Linear Quadratic Regulation
  • E Ship and ROV Models
    • E.1 Ship Models
    • E.2 Underwater Vehicle Models