Dynamic positioning of marine craft using a port-Hamiltonian framework
Donaire, Alejandro & Perez, Tristan (2012) Dynamic positioning of marine craft using a port-Hamiltonian framework. Automatica, 48(5), pp. 851-856.
Dynamic positioning of marine craft refers to the use of the propulsion system to regulate the vessel position and heading. This type of motion control is commonly used in the offshore industry for surface vessels, and it is also used for some underwater vehicles. In this paper, we use a port-Hamiltonian framework to design a novel nonlinear set-point-regulation controller with integral action. The controller handles input saturation and guarantees internal stability, rejection of unknown constant disturbances, and (integral-)input-to-state stability.
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|Item Type:||Journal Article|
|Keywords:||Port-Hamiltonian systems, Marine control systems, Dynamic positioning, Integral action, Input saturation, control system synthesis, marine control, marine propulsion, motion control, nonlinear control systems, stability, underwater vehicles|
|Divisions:||Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
|Copyright Owner:||Copyright 2012 Elsevier Ltd.|
|Deposited On:||30 Apr 2014 01:46|
|Last Modified:||09 Apr 2015 23:23|
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