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Yacht Modelling and Adaptive Control
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Authors: Chengmo Xiao, Sing Kiong Nguang (Department of Electrical and Computer Engineering, The University of Auckland, New Zealand) 
Book Description:
Marine vessels, including wind-powered yachts, are continually required to be able to operate with properties of being more reliable, comfortable and economical. Recently, the global economic integration has intensified worldwide competition and increased the demand for sea freights. This demand has stimulated the development of marine vessels which are larger, faster and safer. The crisis of non-renewable energy and its steady increase in price leads to higher requirements of energy efficiency by marine vessels. This increased awareness of protecting the environment has ensured that there are now stricter standards in controlling ocean pollutions hence it leads to more demands on marine vessel control.

These increases in performance and fuel saving can be achieved through incorporating advanced control technologies. Adaptive and artificial intelligent control strategies, by connecting to the dynamics of a marine vessel, enable the vessel to follow an optimal course or track with minimum rudder action, resulting in collision avoidance and energy saving. Smaller marine vessels such as yachts are often powerless against sea conditions, hence advanced control algorithms combined with modern guidance technology such as global positioning system (GPS), increase the safety of the navigation. As a consequence, the autopilot system which integrates the electronic hardware and the control algorithms has become standard use for commercial and military marine vessels, and is becoming essential equipment for smaller marine vessels such as leisure boats and yachts.

Table of Contents:
List of Tables
List of Figures
1 Introduction pp.1-1
1.1 Introduction to ship motion control problem pp.1-3
1.2 Review on ship motion control strategies pp.4-6
1.3 Yacht motion control problems pp.7-7
1.3.1 The overlooked study on yacht motion control pp.7-7
1.3.2 What is the difference of yacht motion control? pp.8-9
1.3.3 Why adaptive control? pp.9=10
1.4 What is the new contribution in this book? pp.11-11
1.5 How is this book organized? pp.12-14
2 Yacht Mathematic Modelling: Hydrodynamics Analysis pp.15-15
2.1 Introduction pp.15-15
2.2 The yacht motion coordinate frame pp.15-15
2.3 Derivation of motion equations for marine vessels pp.16-17
2.3.1 A particular case of ship motion analysis pp.18-19
2.3.2 The more general case of ship motion analysis pp.20-20
2.3.3 Simplification on ship motion equations. pp.21-21
2.4 Yacht hydrodynamics analysis.pp.22-25
2.5 Disturbances analysis pp.26-26
2.5.1 Wind disturbance pp.27-27
2.5.2 Wave and current disturbances pp.27-29
2.6 SimulinkTM implementation of the chosen 12-metre America's Cup Yacht pp.30-32
2.7 Summary pp.33-36
3 Yacht Mathematic Modelling: Parameter Identification pp.37-37
3.1 Introduction pp.37-37
3.2 Yacht's model identification and simplification pp.38-38
3.2.1 Recursive prediction error method (RPEM) pp.38-39
3.2.2 Identification of transfer function pp.40-40
3.3 Numeric results of yacht identification pp.41-41
3.3.1 Spectrum analysis on heading, rolling and rudder angles pp.42-42
3.3.2 Responses of yaw and roll motion to the rudder
3.3.3 Sensitivity to wind disturbances pp.44-45
3.3.4 Illustrations on parameter estimation pp.46-48
3.4 Summary pp.49-50
4 Adaptive Self-Tuning PID Yacht Autopilots: LQR Approach pp.51-
4.1 Introduction pp.51-51
4.2 LQR self-tuning PID autopilot design pp.52-52
4.2.1 LQR self-tuning PD control algorithm pp.52-555
4.2.2 LQR self-tuning PID control algorithm pp.56-59
4.2.3 Analysis of the PD and PID autopilot algorithms pp.60-61
4.3 Simulations and results comparisons pp.62-62
4.3.1 Simulations on LQR tuned PD autopilots pp.63-64
4.3.2 Simulations on LQR tuned PID autopilots pp.65-67
4.4 Stability analysis pp.68-70
4.5 Summary pp.71-72
5 Adaptive Self-Tuning PD Yacht Steering Control: Hoo Approach pp.73-73
5.1 Introduction pp.73-73
5.2 Hoo auto-tuning PD autopilot design pp.73-73
5.2.1 Review of Hoo theory pp.74-74
5.2.2 Hoo tuned PD autopilot design pp.74-77
5.2.3 Constraints analysis on choosing parameters 0 and pp.78-82
5.3 Simulations study pp.83-83
5.3.1 Calm sea steering control pp.84-84
5.3.2 Comparisons on robust and adaptive Hoo tuned PD autopilot pp.84-87
5.3.3 Comparisons on adaptive Hoo PD and LQR tuned PD/PID autopilots pp.88-89
5.4 Stability study pp.90-91
5.5 Summary pp.92-92
6 Adaptive Yacht Rudder-Roll Damping and Steering Control pp.93-93
6.1 Introduction pp.93-93
6.2 Yacht steering and roll damping control : adaptive LQR strategy pp.94-94
6.2.1 LQR steering autopilot design pp.95-95
6.2.2 LQR roll damping controller plus PD steering control pp.96-96
6.2.3 LQR Steering and Roll Damping Controller pp.97-97
6.3 LQR steering and roll damping control simulation pp.98-98
6.3.1 Comparison of PID and adaptive LQR autopilots for yacht steering control pp.99-99
6.3.2 Simulation analysis of the designed adaptive LQR roll damping autopilots pp.99-101
6.3.3 Results analysis of the designed LQR steering and roll damping autopilots pp.102-105
6.4 Summary pp.106-106
7 Online Adaptive LQR Autopilot Design Based on Genetic Algorithms pp.107-107
7.1 Introduction pp.107-107
7.2 Review of genetic optimization pp.108-109
7.3 The online adaptive LQR autopilot design by GA algorithm pp.110-110
7.3.1 Brief review of the yacht mathematical model pp.110-111
7.3.2 Review of adaptive LQR autopilot design pp.111-111
7.3.3 The development of a full-adaptive LQR controller tuned by GA pp.112-116
7.4 Simulation study pp.117-117
7.4.1 Determination of minimum size of population and generation pp.117-118
7.4.2 Control performance comparison on the ship ``Sea Scout'' pp.119-121
7.4.3 Control performance comparison on the yacht pp.122-125
7.5 Summary pp.126-126
8 Conclusions and Future's Work pp.127-127
8.1 General conclusions pp.127-127
8.2 Suggestions for future research pp.128-130
A.3 Measurements for the 12-metre America's Cup Racing Yacht pp.131-131
A.4 Coefficients for the 12-metre America's Cup Racing Yacht pp.132-132
A.5 Added mass of the simulated yacht pp.132-136
References pp.137-146

Index pp.147-151

      Transportation Issues, Policies and R&D
   Binding: Hardcover
   Pub. Date: 2009 3rd Quarter
   Pages: 7 x 10, 151 pp.
   ISBN: 978-1-60741-430-8
   Status: AV
Status Code Description
AN Announcing
FM Formatting
PP Page Proofs
FP Final Production
EP Editorial Production
PR At Prepress
AP At Press
AV Available
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Yacht Modelling and Adaptive Control