Robust Trajectory Tracking Control for Fully Actuated Marine Surface Vehicle

Robust Trajectory Tracking Control for Fully Actuated Marine Surface Vehicle

In this paper we present a robust trajectory tracking control for a fully actuated marine surface vehicle. The tracking controller is obtained using a port-Hamiltonian model of the marine craft and includes an integral action to compensate for constant disturbances. The proposed approach adds dampin...

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Bibliographic Details
Main Authors: Francisco Del-Rio-Rivera, Victor M. Ramirez-Rivera, Alejandro Donaire, Joel Ferguson
Format: Article
Language:English
Published: IEEE 2020-01-01
Series:IEEE Access
Subjects:
Input-to-state stability
integral control
marine craft
port-Hamiltonian systems
trajectory tracking
Online Access:https://ieeexplore.ieee.org/document/9277537/

Internet

https://ieeexplore.ieee.org/document/9277537/

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