2.154 Maneuvering & Control of Surface and Underwater Vehicles
Fall 2005
A model planing hull powered by twin waterjets with an active stability system to reduce slamming accelerations.
Instructors: Michael S Triantafyllou, Franz S Hover
TA: Matthew B Greytak
Lecture: TR9-10.30 (5-233)
Topics Covered:
Maneuvering motions of surface and underwater vehicles. Derivation of equations of motion, hydrodynamic coefficients. Memory effects. Linear and nonlinear forms of the equations of motion. Control surfaces modeling and design. Engine, propulsor, and transmission systems modeling and simulation during maneuvering. Stability of motion. Principles of multivariable automatic control. Optimal control, Kalman filtering, loop transfer recovery. Term project: applications chosen from autopilots for surface vehicles; towing in open seas; remotely operated vehicles.
Announcements
Class notes
Handwritten class notes will be posted in the "Materials" section after each lecture.Announced on 08 September 2005 3:10 p.m. by Matthew Greytak
