ME3801 Dynamics and Control of Marine and Autonomous Vehicles I

First part of the course develops 6DOF equations of motion of marine and autonomous vehicles. Initially we discuss kinematics, followed by vehicle dynamics and overview of forces and moments acting on the marine/autonomous vehicles. Second part of the course introduces basic concepts of linear systems analysis as well as linear systems design using state-space techniques. All the examples used in the second part of the course are based on the model of an Autonomous Underwater Vehicle derived in the first part. The course includes a lab that further illustrates the concepts developed in class using hardware-in-the loop simulation of an autonomous vehicle.

Prerequisite

ME2801

Lecture Hours

3

Lab Hours

2

Course Learning Outcomes

At the completion of the course students will be able to:

• Derive marine vehicle kinematic equations.
• Derive marine vehicle dynamic equations.
• Categorize forces and moments acting on marine vehicles.
• Write down explicit expressions for forces and moments acting on marine vehicles.
• Derive equilibrium points and linearization of vehicle equations of motion.
• Analyze vehicle’s controllability, observability, and stability.
• Design state and output feedback controllers.