IDA-PBC DESIGN FOR MARINE VEHICLE

Passivity based control with interconnection and damping assignment (IDA-PBC) design technique is developed for marine vehicle. Some speed components defined as generalized coordinates must be kept constant in order to derive an IDA-PBC rule for continuously moving marine vehicle. In this study, using the error dynamics of the system, we derive a control rule which has a different structure from the traditional one and guarantees the asymptotic stability.