Lectures Spring 2013: Thursday 09:15-12:00 (Room: EL6)
Non-mandatory problems (student assistant): Thursday 12:15-13:00 (Room: D346)
Mandatory assignments (teaching assistant): Tuesday 17:15-19:00 (Room: EL3)

Instructor: Professor Thor I. Fossen (E-mail: tif@itk.ntnu.no)
Teaching Assistant: Anastasios Lekkas (E-mail: Anastasios.Lekkas@itk.ntnu.no)
Student Assistant: Kristian Klausen (E-mail: krisklau@stud.ntnu.no)

Description: Methods for design and implementation of guidance, navigation, and control (GNC) systems for ships, semi-submersibles, underwater vehicles, aircraft and unmanned vehicles (AUV and UAV). This includes simulation and testing of motion control systems during failure situations and for varying environmental loads. This covers 6-DOF mathematical modeling of vehicles and the environment (waves, ocean currents and wind). Emphasis is placed on kinematics (Euler angles and unit quaternions), rigid-body kinetics, hydrostatics, hydrodynamics, aerodynamics and vectorial mechanics. Applied control theory and synthesis in terms of linear-quadratic optimal control and state estimation (Kalman filtering), nonlinear observer theory, MIMO PID control with extensions to nonlinear systems, Lyapunov methods, sliding-mode control, feedback linearization, backstepping designs, passivity, and observer-based feedback. Observers for integration of global navigation satellite systems (GNSS) and inertial measurements (gyros and accelerometers), observer-based feedback, and observers for global navigation satellite systems (GNSS) and inertial measurement units.

Mandatory Text:
Fossen, T. I. (2011). ”Handbook of Marine Craft Hydrodynamics and Motion Control”. John Wiley & Sons Ltd.
Fossen, T. I. (2013). ”Mathematical Models for Control of Aircraft and Satellites”. Department of Engineering Cybernetics, April 2013.

• SYLLABUS
• LECTURE NOTES and ERRATA for the “Handbook of Marine Craft Hydrodynamics and Motion Control”
• Reading list and literature
• Exams with solution sets
• Matlab and Simulink scripts
• MSS toolbox at www.marinecontrol.org

Prerequisites: TTK 4105 Control Engineering. It is recommended to have some background on Lyapunov stability theory (for instance Ch. 4 in Nonlinear Systems by Hassan K. Khalil, Prentice Hall, 2002 or TTK 4150 Nonlinear Control Systems or similar. The course is coordinated with TMR 4240 Marine Control Systems at the Marine Technology Department. Consequently, you can follow both courses in the same semester.

Assignments and Problem Sets: The assignments are mandatory. Details are given on Itslearning. Note that the assignments count for 30 % of the grade while the final exam counts for 70 % of the grade.

The problems sets P1-P13 are not mandatory. Solutions to these will be presented by the student assistant the week after the lecture. Hence, you can use this opportunity to check your answers or discuss other problems.