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Last updated:

July 29, 2022


Unlimited Duration


This course includes:

Unlimited Duration

Badge on Completion

Certificate of completion

Unlimited Duration


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.

Course Curriculum

  • Kinematics of Moving Frames Unlimited
  • Vessel Inertial Dynamics Unlimited
  • Nonlinear Coefficients in Detail Unlimited
  • Vessel Dynamics: Linear Case Unlimited
  • Similitude Unlimited
  • Captive Measurements Unlimited
  • Standard Maneuvering Tests Unlimited
  • Streamlined Bodies Unlimited
  • Slender-Body Theory Unlimited
  • Practical Lift Calculations Unlimited
  • Fins and Lifting Surfaces Unlimited
  • Propellers and Propulsion Unlimited
  • Electric Motors Unlimited
  • Towing of Vehicles Unlimited
  • Transfer Functions and Stability Unlimited
  • Control Fundamentals Unlimited
  • Modal Analysis Unlimited
  • Control Systems – Loopshaping Unlimited
  • Linear Quadratic Regulator Unlimited
  • Kalman Filter Unlimited
  • Loop Transfer Recovery Unlimited
  • Appendix 1: Math Facts Unlimited
  • Appendix 2: Added Mass via Lagrangian Dynamics Unlimited
  • Appendix 3: LQR via Dynamic Programming Unlimited
  • Further Robustness of the LQR Unlimited

About the instructor

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Massachusetts Institute of Technology