Manoeuvring control of fully-actuated marine vehicles : a Port-Hamiltonian system approach to tracking

Donaire, Alejandro, Perez, Tristan, & Renton, Christopher (2011) Manoeuvring control of fully-actuated marine vehicles : a Port-Hamiltonian system approach to tracking. In Proceedings of the 2011 Australian Control Conference (AUCC), IEEE, Melbourne, VIC, pp. 32-37.

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Abstract

This paper presents a novel control strategy for trajectory tracking of marine vehicles manoeuvring at low speed. The model of the marine vehicle is formulated as a Port-Hamiltonian system, and the tracking controller is designed using energy shaping and damping assignment. The controller guarantees global asymptotic stability and includes integral action for output variables with relative degree greater than one.

Impact and interest:

1 citations in Scopus
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ID Code: 71087
Item Type: Conference Paper
Refereed: Yes
Keywords: Asymptotic stability, Marine vehicles, Trajectory control
ISBN: 9781424492459
Divisions: Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
Copyright Owner: Copyright 2011 IEEE
Deposited On: 07 May 2014 23:35
Last Modified: 11 Jun 2014 04:10

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