Dynamic positioning of marine craft using a port-Hamiltonian framework

作者：Donaire Alejandro^*; Perez Tristan

来源：Automatica, 2012, 48(5): 851-856.

DOI：10.1016/j.automatica.2012.02.022

• Port-Hamiltonian systems
• Marine control systems
• Dynamic positioning
• Integral action
• Input saturation

Dynamic positioning of marine craft refers to the use of the propulsion system to regulate the vessel position and heading. This type of motion control is commonly used in the offshore industry for surface vessels, and it is also used for some underwater vehicles. In this paper, we use a port-Hamiltonian framework to design a novel nonlinear set-point-regulation controller with integral action. The controller handles input saturation and guarantees internal stability, rejection of unknown constant disturbances, and (integral-)input-to-state stability.

• 出版日期2012-5