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.

View at publisher

Abstract

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.

Impact and interest:

0 citations in Scopus
Search Google Scholar™

Citation counts are sourced monthly from Scopus and Web of Science® citation databases.

These databases contain citations from different subsets of available publications and different time periods and thus the citation count from each is usually different. Some works are not in either database and no count is displayed. Scopus includes citations from articles published in 1996 onwards, and Web of Science® generally from 1980 onwards.

Citations counts from the Google Scholar™ indexing service can be viewed at the linked Google Scholar™ search.

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

Export: EndNote | Dublin Core | BibTeX

Repository Staff Only: item control page