- Title
- Robust Trajectory Tracking Control for Fully Actuated Marine Surface Vehicle
- Creator
- Del-Rio-Rivera, Francisco; Ramirez-Rivera, Victor M.; Donaire, Alejandro; Ferguson, Joel
- Relation
- IEEE Access Vol. 8, Issue 2 December 2020, p. 223897-223904
- Publisher Link
- http://dx.doi.org/10.1109/ACCESS.2020.3042091
- Publisher
- Institute of Electrical and Electronics Engineers (IEEE)
- Resource Type
- journal article
- Date
- 2020
- Description
- In this paper we present a robust trajectory tracking control for a fully actuated marine surface vehicle. The tracking controller is obtained using a port-Hamiltonian model of the marine craft and includes an integral action to compensate for constant disturbances. The proposed approach adds damping into both the position and integrator coordinates, leading to input-to-state stability with respect to time-varying disturbances. We exemplify this controller with a simulation for an unmanned surface vehicle subjected to constant and time-varying wind disturbances. The tracking controller rejects the disturbances achieving global exponential stability for constant disturbances and input state stability for time-varying disturbances.
- Subject
- input-to-state stability; integral control; marine craft; port-Hamiltonian systems; trajectory tracking
- Identifier
- http://hdl.handle.net/1959.13/1457243
- Identifier
- uon:45324
- Identifier
- ISSN:2169-3536
- Rights
- This work is licensed under a Creative Commons Attribution 4.0 License. For more information, see https://creativecommons.org/licenses/by/4.0/
- Language
- eng
- Full Text
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