Handbook of marine craft hydrodynamics and motion control=

Thor I. Fossen

"This book includes methods for the design and implementation of industrial guidance, navigation and control (GNC) systems for ships, high-speed craft, semi-submersibles, submarines, underwater vehicles and ocean structures. To be able to design motion control systems it is evident that a good mathematical model of the craft and the environment (wind, waves, and ocean currents) are required for simulation and verification of the design. The mathematical models are derived in a vectorial setting using Lagrangian and Newtonian mechanics. Simulation models based on the two main theories - maneuvering and seakeeping - are presented, and the concept of fluid-memory effects are demystified. This text covers state-of-the-art methods for GNC, including nonlinear multivariable PID controllers, state estimators and control allocation methods. More advanced topics, such as optimal control...