TTK4190 Guidance and Control - Spring 2007  
Instructor: Morten Breivik
Teach.Ass.: Christian Holden
 E-mail: morten.breivik[@]ntnu.no
E-mail: c.holden[@]ieee.org
 Norsk
Reference Group:
Andreas Hægeland
Jan-Egil Wagnild
 E-mail: andreaha[@]stud.ntnu.no
E-mail: janegiw[@]stud.ntnu.no
  

Reference Group Meeting 11.05.2007 (in Norwegian)

Reference Group Meeting 27.02.2007 (in Norwegian)

Announcements:

(24-May): The Solution Set for the Final Exam has been posted on the Exams page.

(15-May): The results from Assignment 3 are now available at the Assignment page, and the list of approved assignments is updated to include Assignments 3 and 4. Congratulations to Henrik Jøndal, Andreas Berg and Erlend Helgeland for obtaining the best score for Assignment 3!

(08-May): The final curriculum is now available at the Literature page.

3F - Tuesday

 Hours: 12:15-15:00
Room: EL3 		2Ø - Thursday

 Hours: 16:15-18:00
Room: EL3

Course Description: Methods for design and implementation of industrial GNC systems for ships, underwater  vehicles, high-speed craft, flight vehicles and spacecraft. This includes mathematical modeling of marine vessels and  the environment (waves, currents and wind) in 6 DOF. Emphasis is placed on kinematics (Euler angles and unit quaternions),  rigid-body dynamics, hydrodynamics and vectorial mechanics. Applied control theory and synthesis in terms of linear quadratic optimal control and state estimation (Kalman filtering), nonlinear observer theory, PID control with extensions to nonlinear systems, Lyapunov methods, sliding mode control, feedback linearization, backstepping designs, passivity, observer-based feedback, and observers design for marine vessels.

Textbook: Marine Control Systems: Guidance, Navigation and Control of Ships, Rigs and Underwater Vehicles by T. I. Fossen (Marine Cybernetics AS, 2002), ISBN 82-92356-00-2. Sold by Tapir Fagbokhandel at Gløshaugen.

Prerequisites: TTK4105 Control Engineering and TTK4150 Nonlinear Control Systems. It is recommended (but not required) to study this topic together with TMR4240 Marine Control Systems.

Assignments (Project-Based): Based on hydrodynamic data from ShipX, design vessel control systems using Matlab/Simulink and simulate the resulting systems in the time-domain.

The assignments are coordinated with TMR4240. The 4 modules in TTK4190 must all be passed. Two modules are part of the midterm, counting for 30% of the grade. The written exam counts for 70% of the grade.
 


Editor: Morten Breivik       Contact: morten.breivik[@]ntnu.no        Last Updated: 24-May-2007
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