Control of Ships and Underwater Vehicles: Design for Underactuated and Nonlinear Marine Systems
Khac Duc Do
- Mangaka
- Khac Duc Do
- First published
- 2009
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Where it came from
Published as part of the Communications and Control Engineering series, this volume was authored by Khac Duc Do to address the specific technical challenges involved in the motion control of marine vessels. It emerged from a period of increasing academic focus on nonlinear control theory, aiming to provide a structured framework for handling underactuated systems—vehicles that possess fewer control inputs than degrees of freedom, such as ships and underwater robots.
The text is noted for its focus on mathematical rigor, utilizing Lyapunov-based design methods and backstepping techniques to achieve robust stabilization and trajectory tracking. It was developed to serve as a comprehensive resource for researchers and graduate-level engineers, effectively bridging the gap between theoretical control mathematics and the practical operational requirements of autonomous marine hardware.
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