Suppression of Wave Disturbances and Tracking Control for Marine Systems

Title: Suppression of Wave Disturbances and Tracking Control for Marine Systems
Creator: Kennedy, Justine M.; Donaire, Alejandro; Ford, Jason J.; Valentinis, Francis
Relation: 58th IEEE Conference on Decision and Control, 2019. Proceedings of the IEEE Conference on Decision and Control 2019 (Nice, France 11-13 December, 2019) p. 8296-8302
Publisher Link: http://dx.doi.org/10.1109/CDC40024.2019.9029664
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Resource Type: conference paper
Date: 2019
Description: Rejecting wave disturbances is critical to the safe and efficient operation of marine vehicles at sea. In this paper, we use a port-Hamiltonian representation of marine vehicles to develop a passivity-based controller for the suppression of unknown input wave disturbances using a harmonic representation while tracking a time varying reference signal. Our controller is an extension of the tracking controller of [1], with the addition of the input disturbance suppression using an internal model unit from [2]. We show exponential stability for the tracking controller, and utilise Barbalat's Lemma to show that all the signals in the input disturbance suppression controller are bounded. We illustrate our results through simulations.
Subject: suppression; marine; wave; tracking
Identifier: http://hdl.handle.net/1959.13/1452381
Identifier: uon:44423
Identifier: ISBN:9781728113982
Language: eng
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