Course content

The course focuses on mathematical modelling and design of control systems for various marine operations, motion control, positioning, manoeuvring, machinery systems and propulsion systems for ships, underwater vehicles and floating marine structures. This includes dynamic positioning, thruster assisted position mooring, motion damping, crane control, machinery systems, propellers, thrusters, rudders, electrical power generation and distribution for maritime electrical installations. Application areas are shipping, offshore oil and gas, fisheries and aquaculture, and ocean science. Process knowledge including mathematical modelling is emphasized. Introduction to conventional linear monovariable (SISO) and multivariable (MIMO) control and observer designs (PID, LQG, Kalman filtering etc.) for marine applications will be given. Results from nonlinear state estimation and control, whereof passivity, feedback linearization, and Lyapunov analysis will be presented. It will also be given an overview of implementation aspects including signal processing, filtering and signal detection. Methods for analysis and design of time-discrete control systems, including sampling of time-continuous systems, input-output models, z-transform, poles and zeroes, stability analysis. Aspects related to safety and performance of marine control systems, and authority and class requirements will be treated.

Learning outcome

After the course is completed the students shall be able to develop mathematical models and design control systems for propulsion and motion controllers for ships, underwater vehicles and other floating structures based on fundamental physical laws and observed relations.

The students shall be able to:
Understand the concept of mathematical modeling for design, analysis and verification of marine control systems for ships, rigs, underwater vehicles and slender structures.

Be able to develop both advanced numerical simulation models for testing and verification as well as simplified models used in model-based marine control systems.

Understand the fundamental structure and architecture in marine control systems from low-level control of motors and propellers to high-level control and optimization of references subject to the particular marine operation, desired behavior and constraints.

Understand the fundamental principles of computer-controlled systems, signal processing, filtering and fault detection.

Be able to design and analyze controllers for dynamic positioning, thruster assisted position mooring, motion control, machinery systems and power management systems.

Be able to apply classical linear monovariable and multivariable control and observer theory (PID, LQG, Kalman filering,..)

Understand the main principles and apply nonlinear state estimation and control theory including passivity and feedback linearization methods and Lyapunov analysis.

Understand fundamental safety requirements from class societies and authorities for testing, verification and certification of marine control systems.

Learning methods and activities

If needed, the lecture will be given in English. All written material is in English. Portfolio assessment is the basis for the grade in the course. The portfolio includes a final written exam (67%) and exercises (33%). The results for the parts are given in %-scores, while the entire portfolio is assigned a letter grade. Postponed/repeated exams may be oral. Examination papers will be given in English only. Students are free to choose Norwegian or English for written assessments.

Compulsory assignments

• Project works

Recommended previous knowledge

It is recommended to study this course in parallel to (TTK4190) Guidance and Control.

Required previous knowledge

Control Engineering (TTK4105) or similar is a prerequisite.

Course materials

Lecture Notes: Marine Control Systems: Propulsion and Motion Control of Ships, Underwater Vehicles and Ocean Structures. Department of Marine Technology, NTNU.

Credit reductions