Titlebook: Control of Marine Vehicles; Karl Dietrich von Ellenrieder Textbook 2021 Springer Nature Switzerland AG 2021 Linear Time Invariant Systems.

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HARD

天文台

Nonlinear Stability for Marine Vehiclesepts of ultimate boundedness and practical stability are introduced for the analysis of time-varying systems with exogenous disturbances. Lastly, the use of Barbalat’s Lemma for analyzing the stability of systems with time-varying parameters is discussed.

Highbrow

Control of Underactuated Marine Vehiclested systems, the types of constraints (e.g. velocity and acceleration constraints) that make a vehicle underactuated, and the dynamics of underactuated marine vehicles. Then techniques for the stabilization, path following control and trajectory tracking control of nonholonomic surface vessels are introduced.

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https://doi.org/10.1007/978-3-662-01989-4 design flexibility by permitting one to separate tracking requirements from stability or disturbance rejection requirements. Lastly, the use of linear disturbance observer based control design, which can provide robustness to both disturbances and model uncertainty is examined.

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Induction

Textbook 2021techniques for handling model uncertainty, environmental disturbances, and actuator limitations. Starting with an introductory chapter that extensively reviews automatic control and dynamic modeling techniques for ocean vehicles, the first part of the book presents in-depth information on the analys