- Title
- Trajectory tracking passivity-based control for marine vehicles subject to disturbances
- Creator
- Donaire, Alejandro; Guadalupe Romero, Jose; Perez, Tristan
- Relation
- Journal of the Franklin Institute: engineering and applied mathematics Vol. 354, Issue 5, p. 2167-2182
- Publisher Link
- http://dx.doi.org/10.1016/j.jfranklin.2017.01.012
- Publisher
- Pergamon Press
- Resource Type
- journal article
- Date
- 2017
- Description
- In this paper we present a dynamic model of marine vehicles in both body-fixed and inertial momentum coordinates using port-Hamiltonian framework. The dynamics in body-fixed coordinates have a particular structure of the mass matrix that allows the application of passivity-based control design developed for robust energy shaping stabilisation of mechanical systems described in terms of generalised coordinates. As an example of application, we follow this methodology to design a passivity-based controller with integral action for fully actuated vehicles in six degrees of freedom that tracks time-varying references and rejects disturbances. We illustrate the performance of this controller in a simulation example of an open-frame unmanned underwater vehicle subject to both constant and time-varying disturbances. We also describe a momentum transformation that allows an alternative model representation of marine craft dynamics that resembles general port-Hamiltonian mechanical systems with a coordinate dependent mass matrix.
- Subject
- marine vehicles; body-fixed; inertial momentum; trajectory tracking
- Identifier
- http://hdl.handle.net/1959.13/1355132
- Identifier
- uon:31421
- Identifier
- ISSN:0016-0032
- Language
- eng
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