Maneuvering and Control of Surface and Underwater Vehicles
MIT OpenCourseWare offers this advanced Ocean Engineering course on the dynamics and control of ships and underwater vehicles. It covers derivation of equations of motion, hydrodynamic coefficients, memory effects, and both linear and nonlinear formulations, along with control surface modeling, and engine, propulsor, and transmission system simulation during maneuvering. Later sessions address stability of motion, multivariable automatic control, optimal control, Kalman filtering, and loop transfer recovery, applied to autopilots for surface vehicles, open sea towing, and remotely operated vehicles. Originally numbered 13.49 in the Department of Ocean Engineering, the course was renumbered 2.154 after that department merged into Mechanical Engineering in 2005. Materials include lecture notes and problem sets from MIT, free to access with no certificate offered. The course assumes prior control systems and dynamics background and suits students pursuing marine or mechanical engineering.