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Control of Underactuated Marine Vehicles

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Control of Marine Vehicles

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Abstract

The kinematics and dynamics of underactuated marine vehicles must be taken into account during control design, significantly more so than when developing controllers for fully-actuated vehicles. Here, we first present some of the specialized terminology used to define the main features of underactuated systems, the types of constraints (e.g. velocity and acceleration constraints) that make a vehicle underactuated, and the dynamics of underactuated marine vehicles. Then techniques for the stabilization, path following control and trajectory tracking control of nonholonomic surface vessels are introduced.

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Notes

  1. 1.

    A neighborhood V of a point \(\mathbf {x}_0\) is a set of points containing \(\mathbf {x}_0\) where one can move some amount in any direction away from \(\mathbf {x}_0\) without leaving the set.

  2. 2.

    One can think of an open set as a collection of points, like a sphere in three dimensions, about a given point that does not include a boundary. E.g. the set of points \(x^2 + y^2 + z^2 < 4\) is an open set about the origin \(x = y = z = 0\). It is bounded by the sphere \(\sqrt{x^2 + y^2 + z^2} = 2\), which is a closed set.

  3. 3.

    See Sect. 8.4.1 for brief definitions of the drift and control terms in a closed loop system.

  4. 4.

    The image of a function is the set of all of the output values it may produce.

  5. 5.

    An open neighborhood of a point \(\mathbf {x}_e\) is an open set containing \(\mathbf {x}_e\).

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  1. Faculty of Science and Technology, Free University of Bozen-Bolzano, Bolzano, Italy

    Karl Dietrich von Ellenrieder

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Correspondence to Karl Dietrich von Ellenrieder .

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von Ellenrieder, K.D. (2021). Control of Underactuated Marine Vehicles. In: Control of Marine Vehicles. Springer Series on Naval Architecture, Marine Engineering, Shipbuilding and Shipping, vol 9. Springer, Cham. https://doi.org/10.1007/978-3-030-75021-3_9

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  • DOI: https://doi.org/10.1007/978-3-030-75021-3_9

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  • Publisher Name: Springer, Cham

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  • Online ISBN: 978-3-030-75021-3

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