Examination arrangement

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 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, computer assignments and non-mandatory problem sets. The computer assignments are programmed in Matlab/Simulink and the objectives are to simulate and test self-developed motion control systems.

Compulsory assignments

• Øvinger
• Dataøvinger

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 three 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

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

TTK4115 Linear system theory and TTK4105 Control Systems or equivalent. It is necessary to have some background on Kalman filtering and Lyapunov stability theory (for instance Ch. 4 in Nonlinear Systems by Hassan K. Khalil, Prentice Hall, 2002).

Course materials

(1) Fossen, T. I. Handbook of Marine Craft Hydrodynamics and Motion Control. John Wiley & Sons, Ltd, 2011. (2) Beard, R. W. and T. W. McLain. Small Unmanned Aircraft. Theory and Practice. Princeton University Press, 2012.

Credit reductions