PASSIVATION-BASED INTEGRATED GUIDANCE AND CONTROL OF UNDERACTUATED MARINE CRAFT

A passivation approach is proposed for the guidance and control of under-actuated marine craft, which integrates trajectory planning and dynamic tasking in a single formulation. Trajectory and velocity requirements are specified through the design of a manifold in the phase space, and convergence proof is based on the invariant set theorem. Two design cases, path tracking and course keeping, are presented in detail.