TTK 4190 Guidance and Control of Vehicles
Lectures Fall 2017: Day to be decided 08:15-11:00 (Auditorium: To be decided)
Assignment guidance: Day to be dcided 08:15-10:00 (Auditorium: To be decided)
Instructor: Professor Thor I. Fossen (E-mail: firstname.lastname@example.org)
Teaching Assistant: Håkon Hagen Helgesen (E-mail: email@example.com)
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.
- 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
- MSS toolbox at www.marinecontrol.org
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.