Tracking Control of Marine Craft in the port-Hamiltonian Framework: A Virtual Differential Passivity Approach
For marine craft control, this work provides a passivity-based approach to trajectory tracking, but it is incremental as it applies existing v-dPBC to a specific domain.
The paper proposes trajectory tracking controllers for marine craft using virtual differential passivity in the port-Hamiltonian framework, achieving tracking through two pH models and virtual control systems. Numerical simulations demonstrate performance.
In this work we propose a family of trajectory tracking controllers for marine craft in the port-Hamiltonian (pH) framework using virtual differential passivity based control (v-dPBC). Two pH models of marine craft are considered, one in a body frame and another in an inertial frame. The structure and workless forces of pH models are exploited to design two virtual control systems which are related to the original marine craft's pH models. These virtual systems are rendered differentially passive with an imposed steady-state trajectory, both by means of a control scheme. Finally, the original marine craft pH models in closed-loop with above controllers solve the trajectory tracking problem. The performance of the closedloop system is evaluated on numerical simulations.