Control of Marine Vehicles

Introduction.- Stability: Basic Concepts and Linear Stability.- Time Response and Basic Feedback Control.- Root Locus Methods.- Root Locus Methods.- Linear State Space Control Methods.- Nonlinear Stability for Marine Vehicles.- Feedback Linearization.- Control of Underactuated Marine Vehicles.- Integrator Backstepping & Related Techniques.- Adaptive Control.- Sliding Mode Control.

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• Engenharia mecânica
• Engenharia do controlo automático
• Cibernética e teoria dos sistemas
• Interacção homem-computador
• Tecnologia automotiva e comércios

Linear Time Invariant Systems;Lyapunov Stability;Nonlinear Stability;Time Invariant Nonlinear Systems;Time Varying Nonlinear Systems;State Space Control;Observer Design;Disturbance Observer Based Control;Integrator Backstepping;Dynamic Surface Control;MIMO and SISO Systems;Feedback Linearization;Sliding Mode Control;Adaptive Control;Nonlinear Control;Underactuated Vehicle;Motion Planning;Trajectory Tracking;Path Following;Actuator Constraints