ORCA-1, a fully autonomous submarine which was entered in the First Annual International Autonomous Underwater Vehicle Contest. (Image courtesy of MIT Project ORCA. Used with permission.)
Instructor(s)
Prof. Michael Triantafyllou
MIT Course Number
2.154
As Taught In
Fall 2004
Level
Graduate
Course Description
Course Features
Course Highlights
This course features a textbook co-written by Prof. Triantafyllou.
Course Description
This course is about maneuvering motions of surface and underwater vehicles. Topics covered include: derivation of equations of motion, hydrodynamic coefficients, memory effects, linear and nonlinear forms of the equations of motion, control surfaces modeling and design, engine, propulsor, and transmission systems modeling and simulation during maneuvering. The course also deals with stability of motion, principles of multivariable automatic control, optimal control, Kalman filtering, and loop transfer recovery. We will also explore applications chosen from autopilots for surface vehicles; towing in open seas; and remotely operated vehicles.
This course was originally offered in Course 13 (Department of Ocean Engineering) as 13.49. In 2005, ocean engineering subjects became part of Course 2 (Department of Mechanical Engineering), and this course was renumbered 2.154.
Other Versions
Other OCW Versions
Archived versions: 