- Title
- On the tuning of a nonlinear energy-based regulator for the positioning of a fully actuated surface marine craft
- Creator
- Kazantzidou, Christina; Perez, Tristan; Valentinis, Francis; Donaire, Alejandro
- Relation
- IET Control Theory and Applications Vol. 15, Issue 6, p. 850-860
- Publisher Link
- http://dx.doi.org/10.1049/cth2.12087
- Publisher
- The Institution of Engineering and Technology
- Resource Type
- journal article
- Date
- 2021
- Description
- The authors address the problem of tuning a non-linear energy-based regulator for the positioning of a surface marine craft. Interconnection and damping assignment passivity-based control (IDA-PBC) is used for the control design, resulting in passive target dynamics that can be expressed as a port-Hamiltonian system (PHS). The IDA-PBC methodology has been successfully utilised in several applications, however, there has been minimal development in tuning methods that can analytically assist the designer to achieve desired response characteristics. It is demonstrated that eigenvalue assignment of the linearised target dynamics in PHS form can significantly aid the tuning process. Based on this analysis, the authors propose a systematic tuning approach to achieve certain per-formance and response characteristics. A comprehensive demonstration of the proposed tuning method is provided for the position regulation of an underwater vehicle in the horizontal plane in a case study, where numerical analysis of robustness is also conducted.
- Subject
- non-linear energy-based regulator; surface marine craft; control design; underwater vehicle
- Identifier
- http://hdl.handle.net/1959.13/1434580
- Identifier
- uon:39464
- Identifier
- ISSN:1751-8644
- Rights
- This is an open access article under the terms of the Creative Commons Attribution License, which permits use, distribution and reproduction in any medium, provided the original work is properly cited. © 2021 The Authors. IET Control Theory & Applications published by John Wiley & Sons Ltd on behalf of The Institution of Engineering and Technology
- Language
- eng
- Full Text
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