Trajectory tracking passivity-based control for marine vehicles subject to disturbances

Authors

Alejandro Donaire, Jose Guadalupe Romero, Tristan Perez

Abstract

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.

Citation

• Journal: Journal of the Franklin Institute
• Year: 2017
• Volume: 354
• Issue: 5
• Pages: 2167–2182
• Publisher: Elsevier BV
• DOI: 10.1016/j.jfranklin.2017.01.012

BibTeX

@article{Donaire_2017,
  title={{Trajectory tracking passivity-based control for marine vehicles subject to disturbances}},
  volume={354},
  ISSN={0016-0032},
  DOI={10.1016/j.jfranklin.2017.01.012},
  number={5},
  journal={Journal of the Franklin Institute},
  publisher={Elsevier BV},
  author={Donaire, Alejandro and Romero, Jose Guadalupe and Perez, Tristan},
  year={2017},
  pages={2167--2182}
}

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References

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