Most ocean vessels are underactuated but control of their motion in the real ocean environment is essential. Starting with a review of the background on ocean-vessel dynamics and nonlinear control theory, the authors’ systematic approach is based on various nontrivial coordinate transformations coupled with advanced nonlinear control design methods. This strategy is then used for the development and analysis of a number of ocean-vessel control systems with the aim of achieving advanced motion control tasks including stabilization, trajectory-tracking, path-tracking and path-following. Control of Ships and Underwater Vehicles offers the reader: - new results in the nonlinear control of underactuated ocean vessels; - efficient designs for the implementation of controllers on underactuated ocean vessels; - numerical simulations and real-time implementations of the control systems designed on a scale-model ship for each controller developed to illustrate their effectiveness and afford practical guidance.
As more and more data is generated at a faster-than-ever rate, processing large volumes of data is becoming a challenge for data analysis software. Addressing performance issues, Cloud Computing: Data-Intensive Computing and Scheduling explores the evolution of classical techniques and describes completely new methods and innovative algorithms. The
A Thorough Overview of the Next Generation in ComputingPoised to follow in the footsteps of the Internet, grid computing is on the verge of becoming more robust and accessible to the public in the near future. Focusing on this novel, yet already powerful, technology, Introduction to Grid Computing explores state-of-the-art grid projects, core grid
With the advance of wireless networks, building reliable and secured network connections is becoming extremely important. On the other hand, ad hoc networks become especially important and have many useful applications. The primary focus of this book is to present these two hot and rapidly evolving areas in wireless networks. Security and scheduling/routing in wireless networks remain challenging research problems due to the complexity involved. How to develop more efficient and reliable wireless networks remains a hot research area. It is this realisation that has motivated the editing of this book. The goal of the book is to serve as a reference for both security in wireless networks and channel access, scheduling, and routing in ad hoc networks. In this book, the authors review important developments and new strategies for these topics. Important features and limitations of methods and models are identified. Consequently, this book can serve as a useful reference for researchers, educators, graduate students, and practitioners in the field of wireless networks. This book contains 14 invited chapters from prominent researchers working in this area around the world. All of the cha
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