Course - Guidance, Navigation and Control of Vehicles - TTK4190
TTK4190 - Guidance, Navigation and Control of Vehicles
Examination arrangement: School exam
Grade: Letter grades
|Evaluation||Weighting||Duration||Grade deviation||Examination aids|
|School exam||100/100||4 hours||C|
Mathematical modeling and simulation of vehicles in 6 degrees of freedom. This includes mathematical modeling of ships, semi-submersibles, aircraft, autonomous underwater vehicles (AUV), and unmanned aerial vehicles (UAV). Introduction to aerodynamics, hydrodynamics, sea loads, and mathematical modeling of the environment (waves, ocean currents, and wind). Kinematics (Euler angles and unit quaternions), transformations, rotation matrices, geographical and body-fixed coordinates systems, rigid-body kinetics, and vectorial mechanics. Methods for designing and implementing guidance, navigation, and control (GNC) systems for marine craft and aircraft. This includes simulation and testing of motion control systems during failure situations and for varying environmental loads. Emphasis is placed on classical guidance systems, including line-of-sight (LOS) methods and path following. Applied control theory and synthesis of optimal controllers and state estimators (Kalman filtering), nonlinear observer theory, PID control with extensions to nonlinear systems, Lyapunov methods, sliding-mode control, feedback linearization, backstepping designs, and passivity-based methods. Autopilot design, dynamic positioning, attitude stabilization, roll damping, altitude and depth autopilots, sensor and navigation systems, and wave filtering. Observers and error-state Kalman filter for integration of global navigation satellite systems (GNSS) and inertial measurements (attitude rate sensors and accelerometers).
Knowledge: Detailed knowledge about guidance, navigation and control systems for marine craft, aircraft, and unmanned vehicles (AUV and UAV systems). Be able to read and understand methods published in the literature and evaluate and compare these with methods used in practical systems. Skills: Design and implement motion control systems for ships, ocean structures, underwater vehicles, aircraft, and unmanned vehicles. Be able to simulate vessel motion, motion control systems, and the effect of wind, wave, and ocean current forces on these systems. Independent management of small R&D projects and contributing actively to larger projects. General competence: Communicate work-related problems with specialists and non-specialists.
Learning methods and activities
Lectures and mandatory computer assignments in Matlab. A take-home project on UAV flight control systems. Introduction and use of the Matlab MSS Toolbox https://github.com/cybergalactic/MSS. The objectives of the assignments are to simulate and test self-developed motion control systems for marine craft, aircraft, and unmanned vehicles.
- Flight control report
Further on evaluation
School exam in writing is the basis for the final grade in the subject. The final grade is given as a letter. The exam is only given in English, but answers in both Norwegian and English are accepted. If there is a re-sit examination, the examination form may be changed from written to oral. The computer assignments, take-home project, and final exam must all be passed in order to pass the course. In the case that the student receives a F/Fail as a final grade after both ordinary and re-sit exams, then the student must retake the course in its entirety.
Recommended previous knowledge
Background in nonlinear systems (Lyapunov theory), for instance TTK4150 Nonlinear Systems (Ch. 4 in H. K. Khalil, Nonlinear Systems, 3rd ed., Prentice Hall, 2002).
Required previous knowledge
TTK4105 Control Systems, alternatively AIS 2002 Control Systems Engineering, IELET2002 Control Engineering, or TTK4230 Control Systems. TTK4115 Linear system theory, alternatively a course that covers linear-quadratic optimal control and state estimation (Kalman filter).
- Fossen, T. I. Handbook of Marine Craft Hydrodynamics and Motion Control. John Wiley & Sons Ltd, 2nd edition, 2021.
- Beard, R. W. and T. W. McLain. Small Unmanned Aircraft. Theory and Practice. Princeton University Press, 2012.
Credits: 7.5 SP
Study level: Second degree level
Term no.: 1
Teaching semester: AUTUMN 2023
Language of instruction: Norwegian
- Marine Cybernetics
- Engineering Cybernetics
- MSc-level Engineering and Architecture
- Technological subjects
Examination arrangement: School exam
- Term Status code Evaluation Weighting Examination aids Date Time Examination system Room *
- Autumn ORD School exam 100/100 C 2023-12-11 15:00 INSPERA
Room Building Number of candidates SL520 Sluppenvegen 14 6 SL311 orange sone Sluppenvegen 14 65 SL238 Sluppenvegen 14 2 SL410 blå sone Sluppenvegen 14 24
- Summer UTS School exam 100/100 C INSPERA
Room Building Number of candidates
- * The location (room) for a written examination is published 3 days before examination date. If more than one room is listed, you will find your room at Studentweb.
For more information regarding registration for examination and examination procedures, see "Innsida - Exams"