On the tuning of a nonlinear energy‐based regulator for the positioning of a fully actuated surface marine craft
Abstract 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...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2021-04-01
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| Series: | IET Control Theory & Applications |
| Online Access: | https://doi.org/10.1049/cth2.12087 |