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Yacht Modelling and Adaptive Control 1st Edition by Chengmo Xiao, Sing Kiong Nguang ISBN 1612098606 9781612098609

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Author(s): Chengmo Xiao; Sing Kiong Nguang
ISBN(s): 9781612098609, 1612098606
Edition: 1
File Details: PDF, 10.77 MB
Year: 2009
Language: english
SKU: EB-51356218 Category: Tags: ,

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Product details:

ISBN 10: 1612098606 
ISBN 13: 9781612098609
Author:  Chengmo Xiao, Sing Kiong Nguang

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 world-wide 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.

Yacht Modelling and Adaptive Control 1st Table of contents:

Part I: Yacht Modeling

  • Chapter 1: Introduction to Yacht Dynamics

    • Brief History of Yachting and Its Engineering Challenges
    • Importance of Accurate Yacht Modeling
    • Overview of Hydrodynamics and Aerodynamics Relevant to Yachts
    • Introduction to Control Systems in Marine Applications
    • Book Structure and Contributions

  • Chapter 2: Principles of Yacht Hydrodynamics

    • Hydrodynamic Forces and Moments on a Yacht Hull
    • Linear vs. Nonlinear Hydrodynamic Models
    • Added Mass and Damping Coefficients
    • Wave-Induced Forces and Motions
    • Hydrodynamic Interaction with Sails and Appendages
    • Computational Fluid Dynamics (CFD) Applications in Yacht Design

  • Chapter 3: Principles of Yacht Aerodynamics

    • Aerodynamic Forces and Moments on Sails
    • Sail Theory and Aerofoil Characteristics
    • Sail Trim and Its Influence on Performance
    • Wind Gradient and Apparent Wind
    • Aerodynamic Interaction Between Sails and Hull
    • Experimental and Numerical Methods for Sail Aerodynamics

  • Chapter 4: Coupled Hydro-Aerodynamic Yacht Dynamics

    • Integrated Six-Degrees-of-Freedom (6-DOF) Yacht Equations of Motion
    • Coupling Mechanisms Between Hull and Sails
    • Effects of Heel, Pitch, and Roll on Performance
    • Rigid Body Dynamics of a Yacht
    • Mathematical Formulation of the Complete Yacht Model

  • Chapter 5: Environmental Disturbances Modeling

    • Wind Models (Steady Wind, Gusts, Squalls, Wind Shear)
    • Wave Models (Regular Waves, Irregular Waves, Wave Spectra)
    • Current Models
    • Modeling of Combined Environmental Effects on Yacht Motion

Part II: Adaptive Control Design

  • Chapter 6: Introduction to Adaptive Control Theory

    • Fundamentals of Feedback Control Systems
    • Limitations of Fixed-Gain Controllers for Nonlinear Systems
    • Concepts of Adaptive Control (Parameter Estimation, Controller Adaptation)
    • Types of Adaptive Control (MRAC, Self-Tuning Regulators, Gain Scheduling)
    • Stability Analysis for Adaptive Control Systems (Lyapunov Stability)

  • Chapter 7: Model Reference Adaptive Control (MRAC) for Yacht Systems

    • Design of a Reference Model for Desired Yacht Behavior
    • Derivation of MRAC Laws for Course Keeping and Trajectory Tracking
    • Parameter Update Laws (e.g., Gradient Method, Least Squares)
    • Stability Proofs for MRAC Applied to Yachts
    • Simulation Examples and Performance Analysis

  • Chapter 8: Robust Adaptive Control for Yacht Motion

    • Challenges of Uncertainty and Disturbances in Yacht Control
    • Robustness Issues in Adaptive Control
    • Design of Robust Adaptive Controllers (e.g., Sliding Mode Control, Neural Network-Based Adaptive Control)
    • Addressing Unmodeled Dynamics and External Perturbations
    • Performance Evaluation in the Presence of Noise and Model Mismatches

  • Chapter 9: Adaptive Trajectory Tracking Control

    • Formulation of the Trajectory Tracking Problem for Yachts
    • Adaptive Control Strategies for Following Desired Paths
    • Path Following vs. Trajectory Following
    • Nonlinear Adaptive Control Techniques for Complex Maneuvers
    • Simulation and Experimental Validation of Tracking Performance

  • Chapter 10: Adaptive Course Keeping Control

    • Design of Adaptive Autopilot Systems for Yachts
    • Addressing Changing Hydrodynamic and Aerodynamic Conditions
    • Comparison with Conventional PID Autopilots
    • Adaptive Gain Scheduling for Autopilot Parameters
    • Practical Implementation Considerations

  • Chapter 11: Real-Time Implementation and Experimental Validation

    • Hardware-in-the-Loop (HIL) Simulation
    • Sensor Integration and Data Acquisition
    • Actuator Design and Control (e.g., Rudder, Keel, Sail Control)
    • Field Experiments and Sea Trials
    • Analysis of Experimental Results and Comparison with Simulations
    • Challenges and Future Directions in Yacht Control

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Tags: Chengmo Xiao, Sing Kiong Nguang, Yacht, Modelling