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.
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.
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|Item Type:||Conference Paper|
|Keywords:||Asymptotic stability, Marine vehicles, Trajectory control|
|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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