Control of Ships and Underwater Vehicles.pdf

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Advances in Industrial Control

Other titles published in this series: Digital Controller Implementation and Fragility Robert S.H. Istepanian and James F. Whidborne (Eds.) Optimisation of Industrial Processes at Supervisory Level Doris Sáez, Aldo Cipriano and Andrzej W. Ordys Robust Control of Diesel Ship Propulsion Nikolaos Xiros Hydraulic Servo-systems Mohieddine Jelali and Andreas Kroll Model-based Fault Diagnosis in Dynamic Systems Using Identification Techniques Silvio Simani, Cesare Fantuzzi and Ron J. Patton Strategies for Feedback Linearisation Freddy Garces, Victor M. Becerra, Chandrasekhar Kambhampati and Kevin Warwick Robust Autonomous Guidance Alberto Isidori, Lorenzo Marconi and Andrea Serrani Dynamic Modelling of Gas Turbines Gennady G. Kulikov and Haydn A. Thompson (Eds.) Control of Fuel Cell Power Systems Jay T. Pukrushpan, Anna G. Stefanopoulou and Huei Peng Fuzzy Logic, Identification and Predictive Control Jairo Espinosa, Joos Vandewalle and Vincent Wertz Optimal Real-time Control of Sewer Networks Magdalene Marinaki and Markos Papageorgiou Process Modelling for Control Benoît Codrons Computational Intelligence in Time Series Forecasting Ajoy K. Palit and Dobrivoje Popovic Modelling and Control of Mini-Flying Machines Pedro Castillo, Rogelio Lozano and Alejandro Dzul Ship Motion Control Tristan Perez Hard Disk Drive Servo Systems (2nd Ed.) Ben M. Chen, Tong H. Lee, Kemao Peng and Venkatakrishnan Venkataramanan Measurement, Control, and Communication Using IEEE 1588 John C. Eidson Piezoelectric Transducers for Vibration Control and Damping S.O. Reza Moheimani and Andrew J. Fleming Manufacturing Systems Control Design Stjepan Bogdan, Frank L. Lewis, Zdenko Kovai and José Mireles Jr. Windup in Control Peter Hippe Nonlinear H2/H Constrained Feedback Control Murad Abu-Khalaf, Jie Huang and Frank L. Lewis Practical Grey-box Process Identification Torsten Bohlin Control of Traffic Systems in Buildings Sandor Markon, Hajime Kita, Hiroshi Kise and Thomas Bartz-Beielstein Wind Turbine Control Systems Fernando D. Bianchi, Hernán De Battista and Ricardo J. Mantz Advanced Fuzzy Logic Technologies in Industrial Applications Ying Bai, Hanqi Zhuang and Dali Wang (Eds.) Practical PID Control Antonio Visioli (continued after Index)

Khac Duc Do • Jie Pan Control of Ships and Underwater Vehicles Design for Underactuated and Nonlinear Marine Systems 123

Khac Duc Do, PhD Jie Pan, PhD School of Mechanical Engineering The University of Western Australia 35 Stirling Highway Crawley, WA 6009 Australia duc@mech.uwa.edu.au pan@mech.uwa.edu.au e-ISBN 978-1-84882-730-1 ISSN 1430-9491 ISBN 978-1-84882-729-5 DOI 10.1007/978-1-84882-730-1 Springer Dordrecht Heidelberg London New York British Library Cataloguing in Publication Data A catalogue record for this book is available from the British Library Library of Congress Control Number: 2009931136 © Springer-Verlag London Limited 2009 FUTABA® is a registered trademark of Futaba Corporation. Futaba Corporation, 629 Oshiba, Mobara, Chiba Prefecture 297-8588, Japan, http://en.futaba.co.jp Maple™ is a product provided by Maplesoft™ a trademark of Waterloo Maple Inc., Waterloo, Ontario, Canada, http://www.maplesoft.com “NI” refers to National Instruments and all of its subsidiaries, business units, and divisions worldwide. LabWindows™ is a trademark of National Instruments. National Instruments Corporation, 11500 N Mopac Expwy, Austin, TX 78759-3504, U.S.A, http://www.ni.com Apart from any fair dealing for the purposes of research or private study, or criticism or review, as permitted under the Copyright, Designs and Patents Act 1988, this publication may only be reproduced, stored or transmitted, in any form or by any means, with the prior permission in writing of the publishers, or in the case of reprographic reproduction in accordance with the terms of licences issued by the Copyright Licensing Agency. Enquiries concerning reproduction outside those terms should be sent to the publishers. The use of registered names, trademarks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant laws and regulations and therefore free for general use. The publisher makes no representation, express or implied, with regard to the accuracy of the information contained in this book and cannot accept any legal responsibility or liability for any errors or omissions that may be made. Cover design: eStudioCalamar, Figueres/Berlin Printed on acid-free paper Springer is part of Springer Science+Business Media (www.springer.com)

Advances in Industrial Control Series Editors Professor Michael J. Grimble, Professor of Industrial Systems and Director Professor Michael A. Johnson, Professor (Emeritus) of Control Systems and Deputy Director Industrial Control Centre Department of Electronic and Electrical Engineering University of Strathclyde Graham Hills Building 50 George Street Glasgow G1 1QE United Kingdom Series Advisory Board Professor E.F. Camacho Escuela Superior de Ingenieros Universidad de Sevilla Camino de los Descubrimientos s/n 41092 Sevilla Spain Professor S. Engell Lehrstuhl für Anlagensteuerungstechnik Fachbereich Chemietechnik Universität Dortmund 44221 Dortmund Germany Professor G. Goodwin Department of Electrical and Computer Engineering The University of Newcastle Callaghan NSW 2308 Australia Professor T.J. Harris Department of Chemical Engineering Queen’s University Kingston, Ontario K7L 3N6 Canada Professor T.H. Lee Department of Electrical and Computer Engineering National University of Singapore 4 Engineering Drive 3 Singapore 117576

Professor (Emeritus) O.P. Malik Department of Electrical and Computer Engineering University of Calgary 2500, University Drive, NW Calgary, Alberta T2N 1N4 Canada Professor K.-F. Man Electronic Engineering Department City University of Hong Kong Tat Chee Avenue Kowloon Hong Kong Professor G. Olsson Department of Industrial Electrical Engineering and Automation Lund Institute of Technology Box 118 S-221 00 Lund Sweden Professor A. Ray Department of Mechanical Engineering Pennsylvania State University 0329 Reber Building University Park PA 16802 USA Professor D.E. Seborg Chemical Engineering 3335 Engineering II University of California Santa Barbara Santa Barbara CA 93106 USA Doctor K.K. Tan Department of Electrical and Computer Engineering National University of Singapore 4 Engineering Drive 3 Singapore 117576 Professor I. Yamamoto Department of Mechanical Systems and Environmental Engineering The University of Kitakyushu Faculty of Environmental Engineering 1-1, Hibikino,Wakamatsu-ku, Kitakyushu, Fukuoka, 808-0135 Japan

The ﬁrst author dedicates this book to his parents, Do Thi Duyen and Do Khac Yen, and his little daughter, Do Thu Trang. The second author dedicates this book to his parents, Liyou Pan and Hungxiu Diao.

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