TTK 4190 Guidance and Control of Vehicles

Lectures Fall 2017: Tuesday 14:15-17:00 (Auditorium: R9)
Assignment guidance: Friday 08:15-10:00 (Auditorium: S1)

Instructor: Professor Thor I. Fossen (E-mail:
Teaching Assistant: Håkon Hagen Helgesen (E-mail:

NTNU students, please use Blackboard for communication and educational materials.

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. State estimators for integration of global navigation satellite systems (GNSS) and inertial measurements (gyros and accelerometers), observer-based feedback, and observers for inertial navigation systems (INS) aided by GNSS.

Mandatory Text:

  • Fossen, T. I. (2011). «Handbook of Marine Craft Hydrodynamics and Motion Control». John Wiley & Sons Ltd.
    Lecture notes and Errata
  • Beard, R. W. and T. W. McLain (2012). «Small Unmanned Aircraft. Theory and Practice». Princeton University Press.
    Lecture notes and Errata

Supplemental Material:

Prerequisites: TTK 4105 Control Engineering and TTK 4115 Linear Systems Theory. It is necessary 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.

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

The problems sets are not mandatory. Solutions to these will be made available after the lecture.

2017/06/15 13:10, tif