Course content

Mathematical modeling and simulation of marine craft, aircraft, and drones in six degrees of freedom (DOFs). This includes mathematical modeling of ships, aircraft, autonomous underwater vehicles (AUVs), uncrewed surface vehicles (USVs), and uncrewed aerial vehicles (UAVs). Introduction to aerodynamics, hydrodynamics, sea loads, and environmental modeling (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, programming, 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 such as pure-pursuit and line-of-sight (LOS) guidance laws path following. Applied control theory, optimization, state estimation (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 filters (ESKF) are applied to fuse global navigation satellite systems (GNSS) with 9-DOFs inertial measurement units (IMUs), including three-axis attitude rate sensors, accelerometers, and magnetometers.

Learning outcome

Knowledge: Detailed knowledge about guidance, navigation, and control systems for marine craft, aircraft, and drones (AUV, USV, and UAV). Read and understand methods published in the literature and evaluate and compare these with methods used in practical systems. Skills: Design. program and implement motion control systems for ships, ocean structures, underwater vehicles, aircraft, and autonomous 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 active participation in larger projects. General competence: Communicate work-related problems with specialists and non-specialists.

Learning methods and activities

Digital lectures, problem-solving lectures with code implementation, and mandatory computer assignments in Matlab. A take-home project on UAV flight control systems. Introduction and use of the 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, drones, and autonomous vehicles.

Compulsory assignments

• Assignments
• Flight control report

Specific conditions

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

A course in Control Systems covering linear stability theory, frequency-domain methods (Bode diagrams), and PID control methods. TTK4115 Linear system theory, alternatively a course that covers optimal control and state estimation (Kalman filter).

Course materials

• 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.

Credit reductions