Course content

Methods for design and implementation of industrial GNC systems for ships, semi-submersibles, underwater vehicles, and high-speed craft. This includes mathematical modeling of marine craft and the environment (waves, ocean currents and wind) in 6 DOF. Emphasis is placed on kinematics (Euler angles and unit quaternions), rigid-body dynamics, hydrodynamics and vectorial mechanics. Applied control theory and synthesis in terms of linear quadratic optimal control and state estimation (Kalman filtering), nonlinear observer theory, PID control with extensions to nonlinear systems, Lyapunov methods, sliding mode control, feedback linearization, backstepping designs, passivity, observer-based feedback, and observers for global navigation satellite systems (GNSS) and inertial measurement units.

Learning outcome

Emphasis is placed on modelling of vessel motion and design of control systems for ships and underwater vehicles using state-of-the-art navigation systems.

Learning methods and activities

Lectures and problem sets. The assignments are given as computations and simulations in Matlab/Simulink. Processing of hydrodynamic data (ShipX and WAMIT) for simulation of vessel responses and testing of feedback control systems. Portfolio evaluation is the basis for the final grade in the subject. Parts of the portfolio are final exam in writing 70%, and a report 30%. The result for each part is given in percentage units, while evaluation of the entire portfolio (the final grade) is given as a letter. If there is a re-sit examination, the examination form may be changed from written to oral.

Compulsory assignments

• Exercises

Recommended previous knowledge

Background in nonlinear systems particularly Lyapunov-theory. TTK4105 Control Systems and TTK4150 Nonlinear Systems or equivalent. TTK4190 is coordinated with TMR4240 Marine Control Systems.

Course materials

Fossen, T. I. (2010) "Guidance and Control of Marine Craft".

Credit reductions