Manoeuvring Control of Underactuated Surface Vessels using Manifold Regulation for Port-Hamiltonian Systems

Authors

Christopher Renton, Tristan Perez

Abstract

This paper considers the manoeuvring of underactuated surface vessels. The control objective is to steer the vessel to reach a manifold which encloses a waypoint. A transformation of configuration variables and a potential field are used in a Port-Hamiltonian framework to design an energy-based controller. With the proposed controller, the geometric task associated with the manoeuvring problem depends on the desired potential energy (closed-loop) and the dynamic task depends on the total energy and damping. Therefore, guidance and motion control are addressed jointly, leading to model-energy-based trajectory generation.

Citation

• Journal: IFAC Proceedings Volumes
• Year: 2012
• Volume: 45
• Issue: 27
• Pages: 422–428
• Publisher: Elsevier BV
• DOI: 10.3182/20120919-3-it-2046.00072
• Note: 9th IFAC Conference on Manoeuvring and Control of Marine Craft

BibTeX

@article{Renton_2012,
  title={{Manoeuvring Control of Underactuated Surface Vessels using Manifold Regulation for Port-Hamiltonian Systems}},
  volume={45},
  ISSN={1474-6670},
  DOI={10.3182/20120919-3-it-2046.00072},
  number={27},
  journal={IFAC Proceedings Volumes},
  publisher={Elsevier BV},
  author={Renton, Christopher and Perez, Tristan},
  year={2012},
  pages={422--428}
}

Download the bib file

References

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