Control of Marine Vehicles

Karl von Ellenrieder received his B.S. degree in aeronautics and astronautics, with a specialty in avionics, from the Massachusetts Institute of Technology (USA) in 1990, and the M.S. and Ph.D. degrees in aeronautics and astronautics from Stanford University, (USA) in 1992 and 1998, respectively. Since 2016, he has been a Full Professor of Automation in the Faculty of Science and Technology at the Free University of Bozen-Bolzano (Italy). From 2003 to 2016, he was with the Department of Ocean & Mechanical Engineering at Florida Atlantic University (USA) where, after being promoted through the ranks from Assistant Professor to Associate Professor, he ultimately served as a Full Professor of Ocean Engineering and as the Associate Director of the SeaTech Institute for Ocean Systems Engineering. His research interests include automatic control, the development of robotic unmanned vehicles, human-robot interaction, and the experimental testing of field robots.

• Introduction.- Stability: Basic Concepts and Linear Stability.- Time Response and Basic Feedback Control.- Root Locus Methods.- Root Locus Methods.- Linear State Space Control Methods.- Nonlinear Stability for Marine Vehicles.- Feedback Linearization.- Control of Underactuated Marine Vehicles.- Integrator Backstepping & Related Techniques.- Adaptive Control.- Sliding Mode Control.