2.154 Maneuvering and Control of Surface and Underwater Vehicles
Maneuvering motions of surface and underwater vehicles. Derivation of equations of motion, hydrodynamic coefficients. Memory effects. Linear and nonlinear forms of the equations of motion. Control surfaces modeling and design. Engine, propulsor, and transmission systems modeling and simulation during maneuvering. Stability of motion. Principles of multivariable automatic control. Optimal control, Kalman filtering, loop transfer recovery. Term project: applications chosen from autopilots for surface vehicles; towing in open seas; remotely operated vehicles.
This class has 2.22 as a prerequisite.
2.154 will be offered this semester (Fall 2018). It is instructed by M. S. Triantafyllou.
Lecture occurs 9:30 AM to 11:00 AM on Tuesdays and Thursdays in 1-132.
This class counts for a total of 12 credits.
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