2018/03/21 by Rodolfo Reyes‐Báez, Alejandro Donaire, Reyes-Báez, Rodolfo +7
Engineering · Physics and Astronomy · #Control and Stability of Dynamical Systems #Adaptive Control of Nonlinear Systems #Quantum chaos and dynamical systems
paper · pdf · doi:10.48550/arxiv.1803.07938
In this work we propose a family of trajectory tracking controllers for\nmarine craft in the port-Hamiltonian (pH) framework using virtual differential\npassivity based control (v-dPBC). Two pH models of marine craft are considered,\none in a body frame and another in an inertial frame. The structure and\nworkless forces of pH models are exploited to design two virtual control\nsystems which are related to the original marine craft's pH models. These\nvirtual systems are rendered differentially passive with an imposed\nsteady-state trajectory, both by means of a control scheme. Finally, the\noriginal marine craft pH models in closed-loop with above controllers solve the\ntrajectory tracking problem. The performance of the closedloop system is\nevaluated on numerical simulations.\n