Manoeuvring control of fully-actuated marine vehicles : a Port-Hamiltonian system approach to tracking
Data(s) |
2011
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Resumo |
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. |
Identificador | |
Publicador |
IEEE |
Relação |
http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6114346 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. |
Direitos |
Copyright 2011 IEEE |
Fonte |
School of Electrical Engineering & Computer Science; Science & Engineering Faculty |
Palavras-Chave | #Asymptotic stability #Marine vehicles #Trajectory control |
Tipo |
Conference Paper |