ME4811 Multivariable Control of Ship Systems

This course takes students through each stage involved in the design, modeling and testing of an unmanned system. The course is built around the creation of a fully functional command and control system for a typical robotic platform, e.g., unmanned aerial vehicle (UAV), unmanned surface vehicle (USV) or unmanned underwater vehicle (UUV). Students are presented with a challenge for applying unmanned systems to an authentic scenario of naval significance. Students are then guided through development of equations of motion, control design and system performance in the context of solving a real-world problem. Final designs are evaluated in a combination of simulation and experimental environments as appropriate.

Prerequisite

ME3801 or by consent of instructor

Lecture Hours

3

Lab Hours

2

Course Learning Outcomes

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

• Design a compensator (controller and observer) for a linear system and verify its response using simulations.
• Design a disturbance estimation and compensation control law.
• Perform an integral control design in state space.
• Set up the LQR/LQG optimization problems and solve using MATLAB/SIMULINK.
• Utilize Lyapunov functions to analyze nonlinear control systems.
• Utilize Lyapunov functions to design simple compensators for nonlinear systems.
• Analyze limit cycle behavior.