2.154: Maneuvering and Control of Surface and Underwater Vehicles

Fall | Graduate | 12 Units | Prereq: 2.22

Maneuvering motions of surface and underwater vehicles. Derivation of equations of motion, hydrodynamic coefficients. Memory effects. Linear and nonlinear forms of the equations of motion. Control surfaces modeling and design. Engine, propulsor, and transmission systems modeling and simulation during maneuvering. Stability of motion. Principles of multivariable automatic control. Optimal control, Kalman filtering, loop transfer recovery. Term project: applications chosen from autopilots for surface vehicles; towing in open seas; remotely operated vehicles.

Fall 2020 Update: Fully Remote Classes - My plan is to teach 2.154 remotely, in a manner similar to its prerequisite 2.22 taught also remotely in Spring 2020. I will maintain regular remote office hours to assist students in homework and exam preparation. Lectures will be recorded for future review by students.   Lecture notes will be available in advance of each lecture.