Course content

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 included line-of-sight (LOS) methods and path planning. 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, 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 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 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 og Simulink. 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 and unmanned vehicles.

Compulsory assignments

• Assignments
• Flight control report

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).

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