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`Ex. PGS 1060
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`EX. PGS 1060
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`NTNU » Om NTNU » Fakulteter og institutter » IME-fakultetet » Institutt for Teknisk Kybernetikk » emner » TTK 4190 Guidance and Control of
`Vehicles
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`TTK 4190 Guidance and Control of Vehicles
`The course is given both Spring and Fall 2014, and then only in the Fall semester
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`Lectures Spring 2014: Tuesday 08:15-11:00 (Room: EL1)
`Assignment guidance: Thursday 16:15-18:00 (Room: F2)
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`Instructor Spring 2014: Morten D. Pedersen (E-mail: morten.d.pedersen@ntnu.no)
`Instructor Fall 2014: Thor I. Fossen (E-mail: tif@itk.ntnu.no)
`Student Assistant: Lorenzo Fusini (E-mail: lorenzo.fusini@itk.ntnu.no)
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`NTNU students, please use It's learning for communication and educational materials.
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`Description: Methods for design and implementation of guidance, navigation, and control (GNC) systems for ships,
`semi-submersibles, underwater vehicles, aircraft and unmanned vehicles (AUV and UAV). This includes simulation
`and testing of motion control systems during failure situations and for varying environmental loads. This covers 6-DOF
`mathematical modeling of vehicles and the environment (waves, ocean currents and wind). Emphasis is placed on
`kinematics (Euler angles and unit quaternions), rigid-body kinetics, hydrostatics, hydrodynamics, aerodynamics and
`vectorial mechanics. Applied control theory and synthesis in terms of linear-quadratic optimal control and state
`estimation (Kalman filtering), nonlinear observer theory, MIMO PID control with extensions to nonlinear systems,
`Lyapunov methods, sliding-mode control, feedback linearization, backstepping designs, passivity, and observer-based
`feedback. Observers for integration of global navigation satellite systems (GNSS) and inertial measurements (gyros
`and accelerometers), observer-based feedback, and observers for global navigation satellite systems (GNSS) and
`inertial measurement units.
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`Mandatory Text:
`Fossen, T. I. (2011). »Handbook of Marine Craft Hydrodynamics and Motion Control». John Wiley & Sons Ltd.
`Fossen, T. I. (2013). »Mathematical Models for Control of Aircraft and Satellites». Department of Engineering
`Cybernetics, April 2013.
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`Lecture notes (http://w w w .itk.ntnu.no/fag/gnc/Wiley/slides.html)
`Errata (http://w w w .itk.ntnu.no/fag/gnc/Wiley/errata.pdf) for the «Handbook of Marine Craft Hydrodynamics and Motion
`Control»
`Literature (http://w w w .itk.ntnu.no/fag/gnc/pensum.htm)
`Exams with solution sets (http://w w w .itk.ntnu.no/fag/gnc/exams.html)
`Matlab and Simulink scripts (http://w w w .itk.ntnu.no/fag/gnc/matlab.htm)
`MSS toolbox at www.marinecontrol.org (http://w w w .marinecontrol.org)
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`Prerequisites: TTK 4105 Control Engineering (http://w w w .ntnu.edu/studies/courses/TTK4105#tab=omEmnet). It is
`recommended to have some background on Lyapunov stability theory (for instance Ch. 4 in Nonlinear Systems by
`Hassan K. Khalil, Prentice Hall, 2002 or TTK 4150 Nonlinear Control Systems (http://w w w .itk.ntnu.no/fag/TTK4150/) or
`similar.
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`Assignments: The assignments are mandatory. Details are given on Itslearning. Note that the assignments count for
`30 % of the grade while the final exam counts for 70 % of the grade.
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`The problems sets are not mandatory. Solutions to these will be made available after the lecture.
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`Ex. PGS 1060
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