Publications by Christopher Renton
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Port-Hamiltonian Representation of Mechanical Systems With Velocity Inputs
Manoeuvring Control of Underactuated Surface Vessels using Manifold Regulation for Port-Hamiltonian Systems
Energy-based Motion Control of Marine Vehicles using Interconnection and Damping Assignment Passivity-based Control – A Survey
Energy-based Positioning Control of Underactuated Vehicles using Manifold Regulation
Port-Hamiltonian control of fully actuated underwater vehicles
Total energy shaping of a class of underactuated Port-Hamiltonian Systems using a new set of closed-loop potential shape variables