Port-Hamiltonian control of fully actuated underwater vehicles
Authors
Tristan Perez, Alejandro Donaire, Christopher Renton
Abstract
This chapter presents a novel control strategy for trajectory tracking of underwater marine vehicles that are designed using port-Hamiltonian theory. A model for neutrally buoyant underwater vehicles is formulated as a PHS, and then the tracking controller is designed for the horizontal plane-surge, sway and yaw. The control design is done by formulating the error dynamics as a set-point regulation port-Hamiltonian control problem. The control design is formulated in two steps. In the first step, a static-feedback tracking controller is designed, and the second step integral action is added. The global asymptotic stability of the closed loop system is proved and the performance of the controller is illustrated using a model of an open-frame offshore underwater vehicle.
Citation
- ISBN: 9781849194792
- Publisher: Institution of Engineering and Technology
- DOI: 10.1049/pbce077e_ch7
BibTeX
@inbook{Perez_2012,
title={{Port-Hamiltonian control of fully actuated underwater vehicles}},
ISBN={9781849194808},
DOI={10.1049/pbce077e_ch7},
booktitle={{Further Advances in Unmanned Marine Vehicles}},
publisher={Institution of Engineering and Technology},
author={Perez, Tristan and Donaire, Alejandro and Renton, Christopher},
year={2012},
pages={129--147}
}