Maneuvering and Control of Surface and Underwater Vehicles (13.49)

Photo of ORCA-1, an autonomous submarine, in water.

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.)


MIT Course Number


As Taught In

Fall 2004



Cite This Course

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

Related Content

Michael Triantafyllou. 2.154 Maneuvering and Control of Surface and Underwater Vehicles (13.49). Fall 2004. Massachusetts Institute of Technology: MIT OpenCourseWare, License: Creative Commons BY-NC-SA.

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