Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
723034 | IFAC Proceedings Volumes | 2007 | 6 Pages |
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.
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