Manoeuvring control of underactuated surface vessels using manifold regulation for Port-Hamiltonian systems

Christopher, Renton & Perez, Tristan (2013) Manoeuvring control of underactuated surface vessels using manifold regulation for Port-Hamiltonian systems. In Bruzzone, Gabriele & Caccia, Massimo (Eds.) Proceedings of the 9th IFAC Conference on Manoeuvring and Control of Marine Craft, 2012, IFAC, Grand Hotel Arenzano, Arenzano, Italy, pp. 422-428.

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This paper considers the manoeuvring of underactuated surface vessels. The control objective is to steer the vessel to reach a manifold which encloses a waypoint. A transformation of configuration variables and a potential field are used in a Port-Hamiltonian framework to design an energy-based controller. With the proposed controller, the geometric task associated with the manoeuvring problem depends on the desired potential energy (closed-loop) and the dynamic task depends on the total energy and damping. Therefore, guidance and motion control are addressed jointly, leading to model-energy-based trajectory generation.

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ID Code: 71063
Item Type: Conference Paper
Refereed: Yes
DOI: 10.3182/20120919-3-IT-2046.00072
ISBN: 9783902823601
ISSN: 1474-6670
Divisions: Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
Copyright Owner: Copyright 2012 IFAC
Copyright Statement: No parts of this publication may be reproduced, stored in a retrieval system or transmitted in any form or by any means: electronics, electrostatics, magnetic tape, mechanical, photocopying, recording or otherwise, without permission in writing form the copyright holders.
Deposited On: 06 May 2014 23:56
Last Modified: 08 May 2014 03:02

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