Article ID Journal Published Year Pages File Type
723034 IFAC Proceedings Volumes 2007 6 Pages PDF
Abstract

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.

Related Topics
Physical Sciences and Engineering Engineering Computational Mechanics