Control of Marine Vehicles

The textbook "Control of Marine Vehicles" provides a comprehensive introduction to the control of marine vehicles, covering both fundamental and advanced concepts. It addresses robust control techniques designed to handle model uncertainties, environmental influences, and actuator constraints. The first part of the book begins with a detailed review of automatic control and dynamic modeling of ocean vehicles, imparting a deep understanding of the analysis and control of linear time-invariant systems. The concepts are developed progressively to establish a solid foundation for more complex techniques and to enhance the readers' intuition. Each chapter includes selected examples, MATLAB® code, and exercises that support the understanding of the topics covered. The second part of the book focuses on the stability and control of nonlinear systems, guiding readers from the basics to advanced techniques such as integrator backstepping, adaptive control, and sliding mode control. With the author's extensive teaching and research experience, the book offers a balanced mix of theory and thought-provoking questions that are beneficial for both students and practitioners.