Port-Hamiltonian theory of motion control for marine craft
Donaire, Alejandro & Perez, Tristan (2010) Port-Hamiltonian theory of motion control for marine craft. In Proceedings of the 8th IFAC Conference on Control Applications in Marine Systems (2010), The International Federation of Automatic Control (IFAC), Universitat Rostock, Rostock-Warnemunde, Germany, pp. 201-206.
Port-Hamiltonian Systems (PHS) have a particular form that incorporates explicitly a function of the total energy in the system (energy function) and also other functions that describe structure of the system in terms of energy distribution. For PHS, the product of the input and output variables gives the rate of energy change. This type of systems have the property that under certain conditions on the energy function, the system is passive; and thus, stable. Therefore, if one can design a controller such that the closed-loop system retains - or takes - a PHS form, such closed-loop system will inherit the properties of passivity and stability. In this paper, the classical model of marine craft is put into a PHS form. It is shown that models used for positioning control do not have a PHS form due to a kinematic transformation, but a control design can be done such that the closed-loop system takes a PHS form. It is further shown how integral action can be added and how the PHS-form can be exploited to provide a procedure for control design that ensures passivity and thus stability.
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|Item Type:||Conference Paper|
|Keywords:||Port-Hamiltonian Systems, Marine Control Systems|
|Divisions:||Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
|Deposited On:||18 May 2014 23:49|
|Last Modified:||12 Jun 2014 01:44|
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