DocumentCode
560105
Title
Manoeuvring control of fully-actuated marine vehicles. A Port-Hamiltonian system approach to tracking
Author
Donaire, Alejandro ; Perez, Tristan ; Renton, Christopher
Author_Institution
Sch. of Eng., Univ. of Newcastle, Callaghan, NSW, Australia
fYear
2011
fDate
10-11 Nov. 2011
Firstpage
32
Lastpage
37
Abstract
This paper presents a novel control strategy for trajectory tracking of marine vehicles manoeuvring at low speed. The model of the marine vehicle is formulated as a Port-Hamiltonian system, and the tracking controller is designed using energy shaping and damping assignment. The controller guarantees global asymptotic stability and includes integral action for output variables with relative degree greater than one.
Keywords
asymptotic stability; marine vehicles; trajectory control; damping assignment; energy shaping; fully-actuated marine vehicle; global asymptotic stability; manoeuvring control; marine vehicle manoeuvring; port-Hamiltonian system; tracking controller; trajectory tracking; Asymptotic stability; Damping; Equations; Marine vehicles; Surges; Trajectory; Vectors;
fLanguage
English
Publisher
ieee
Conference_Titel
Australian Control Conference (AUCC), 2011
Conference_Location
Melbourne, VIC
Print_ISBN
978-1-4244-9245-9
Type
conf
Filename
6114346
Link To Document