Port-Hamiltonian control of fully actuated underwater vehicles

Perez, Tristan, Donaire, Alejandro, & Renton, Christopher (2012) Port-Hamiltonian control of fully actuated underwater vehicles. In Roberts, G.N. & Sutton, R. (Eds.) Further Advances in Unmanned Marine Vehicles. The Institution of Engineering and Technology, London, pp. 129-147.

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This chapter presents a novel control strategy for trajectory tracking of underwater marine vehicles that are designed using port-Hamiltonian theory. A model for neutrally buoyant underwater vehicles is formulated as a PHS, and then the tracking controller is designed for the horizontal plane-surge, sway and yaw. The control design is done by formulating the error dynamics as a set-point regulation port-Hamiltonian control problem. The control design is formulated in two steps. In the first step, a static-feedback tracking controller is designed, and the second step integral action is added. The global asymptotic stability of the closed loop system is proved and the performance of the controller is illustrated using a model of an open-frame offshore underwater vehicle.

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ID Code: 70509
Item Type: Book Chapter
Keywords: Actuators; feedback , Closed loop systems, Underwater vehicles, Trajectory control, Control system synthesis, Asymptotic stability
DOI: 10.1049/PBCE077E_ch7
ISBN: 9781849194808
Divisions: Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
Copyright Owner: Copyright 2012 The Institution of Engineering and Technology
Deposited On: 28 Apr 2014 01:24
Last Modified: 07 Oct 2015 23:39

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