Course - Guidance, Navigation and Control of Vehicles - TTK4190
TTK4190 - Guidance, Navigation and Control of Vehicles
About
Examination arrangement
Examination arrangement: School exam and off campus exam
Grade: Letters
| Evaluation | Weighting | Duration | Grade deviation | Examination aids |
|---|---|---|---|---|
| School exam | 7/10 | 4 hours | C | |
| Home examination | 3/10 | 4 hours |
Course content
Mathematical modeling and simulation of vehicles in 6 degrees of freedom. This includes mathematical modeling of ship, semi-submersibles, aircraft, autonomous underwater vehicles (AUV) and unmanned aerial vehicles (UAV). Introduction to aerodynamics, hydrodynamics and sealoads as well as mathematical modeling of the environment (waves, ocean currents and wind). Kinematics (Euler angles and quaternions), transformations, rotation matrices, geographical and body-fixed coordinates systems, rigid-body kinetics and vectorial mechanics. Methods for design and implementation of 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 included line-of-sight (LOS) methods and path planning. 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 and passivity-based methods. Autopilot design, dynamic positioning, attitude stabilization, roll damping, altitude and depth autopilots, vibration damping, sensor and navigation systems and wave filtering. Observers and error-state Kalman filter for integration of global navigation satellite systems (GNSS) and inertial measurements (gyros and accelerometers).
Learning outcome
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 analysis of 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 contribute actively in larger projects. General competence: Communicate work related problems with specialists and nonspecialists.
Learning methods and activities
Lectures and mandatory computer assignments in Matlab. The objectives of the assignments are to simulate and test self-developed motion control systems.
Compulsory assignments
- Oblig
Further on evaluation
Final exam in writing and digital midway exam are the basis for the final grade in the subject. The midway and final exams count for 30 % and 70 % of the grade, respectively. In addition, the computer assignments must be passed. The result for the written exams as well as the final grade are given as letters. The exams are only given in English. Students are free to choose Norwegian or English for written assessments. If there is a re-sit examination, the examination form may be changed from written to oral. The computer assignments, midway exam and final exam must all be passed in order to pass the course. In the case that the student receives an F/Fail as a final grade after both ordinary and re-sit exam, then the student must retake the course in its entirety.
Specific conditions
Compulsory activities from previous semester may be approved by the department.
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 and TTK4115 Linear system theory, alternatively a course that covers linear quadratic 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
| Course code | Reduction | From | To |
|---|---|---|---|
| SIE3090 | 7.5 |
Version: 1
Credits:
7.5 SP
Study level: Second degree level
Term no.: 1
Teaching semester: AUTUMN 2021
Language of instruction: Norwegian
Location: Trondheim
- Engineering Cybernetics
- MSc-level Engineering and Architecture
- Technological subjects
Department with academic responsibility
Department of Engineering Cybernetics
Examination
Examination arrangement: School exam and off campus exam
- Term Status code Evaluation Weighting Examination aids Date Time Digital exam Room *
- Autumn ORD School exam 7/10 C 2021-12-13 15:00 INSPERA
-
Room Building Number of candidates -
Autumn
ORD
Home examination
3/10
Release
2021-10-07Submission
2021-10-07
13:00
INSPERA
17:00 -
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"