2 154 Maneuvering And Control Of Surface And Underwater Vehicles 13 49 Fall 2004

Designing control systems for the marine environment presents unique challenges, from unpredictable currents to complex hydrodynamic forces. Understanding how to model and manage these dynamics is essential for engineering reliable surface ships and autonomous underwater vehicles. This text-based course guides you through the foundational principles of marine vehicle maneuvering and control. You will transition from understanding basic fluid-structure interactions to designing robust autopilots, trajectory tracking systems, and state estimators for real-world marine applications. What you'll learn: 1. Understand the fundamental equations of motion for surface vessels and underwater vehicles. 2. Analyze hydrodynamic coefficients, added mass, and memory effects in fluid environments. 3. Model propulsion systems, control surfaces, and thruster dynamics. 4. Design automatic control systems, including PID autopilots and multivariable controllers. 5. Apply Kalman filtering techniques for state estimation and sensor fusion in marine navigation. 6. Explore path planning and obstacle avoidance concepts for modern autonomous underwater vehicles (AUVs). The course begins with essential hydrodynamics terminology and coordinate systems before advancing to mathematical modeling. You will then progress through control theory application, simulation concepts, and modern autonomous navigation workflows. This course is designed for aspiring marine engineers, robotics enthusiasts, and students new to maritime control systems. No prior background in naval architecture is required, as we build all concepts from the ground up. Start reading today to master the physics and control algorithms that power modern marine exploration.