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
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;
Conference_Titel :
Australian Control Conference (AUCC), 2011
Conference_Location :
Melbourne, VIC
Print_ISBN :
978-1-4244-9245-9
