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.

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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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15 citations in Scopus
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8 citations in Web of Science®

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ID Code: 70673
Item Type: Journal Article
Refereed: Yes
Additional URLs:
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
DOI: 10.1016/j.automatica.2012.02.022
ISSN: 1873-2836
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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