Energy-based motion control of marine vehicles using interconnection and damping assignment passivity-based control : a survey

Perez, Tristan, Donaire, Alejandro, Renton, Christopher, & Valentinis, Francis (2014) Energy-based motion control of marine vehicles using interconnection and damping assignment passivity-based control : a survey. In Kazuhiko, Hasegawa (Ed.) Proceedings of the 9th IFAC Conference on Control Applications in Marine Systems, The International Federation of Automatic Control (IFAC), Osaka Universsity, Osaka, pp. 316-327.

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This paper reviews some recent results in motion control of marine vehicles using a technique called Interconnection and Damping Assignment Passivity-based Control (IDA-PBC). This approach to motion control exploits the fact that vehicle dynamics can be described in terms of energy storage, distribution, and dissipation, and that the stable equilibrium points of mechanical systems are those at which the potential energy attains a minima. The control forces are used to transform the closed-loop dynamics into a port-controlled Hamiltonian system with dissipation. This is achieved by shaping the energy-storing characteristics of the system, modifying its interconnection structure (how the energy is distributed), and injecting damping. The end result is that the closed-loop system presents a stable equilibrium (hopefully global) at the desired operating point. By forcing the closed-loop dynamics into a Hamiltonian form, the resulting total energy function of the system serves as a Lyapunov function that can be used to demonstrate stability. We consider the tracking and regulation of fully actuated unmanned underwater vehicles, its extension to under-actuated slender vehicles, and also manifold regulation of under-actuated surface vessels. The paper is concluded with an outlook on future research.

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ID Code: 70855
Item Type: Conference Paper
Refereed: Yes
Keywords: Nonlinear and optimal control in marine systems
DOI: 10.3182/20130918-4-JP-3022.00072
ISBN: 9783902823526
ISSN: 1474-6670
Divisions: Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
Copyright Owner: Copyright 2014 IFAC
Deposited On: 01 May 2014 23:29
Last Modified: 07 May 2014 05:19

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