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 |
| _version_ | 1811261121371308032 |
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| author | Christina Kazantzidou Tristan Perez Francis Valentinis Alejandro Donaire |
| author_facet | Christina Kazantzidou Tristan Perez Francis Valentinis Alejandro Donaire |
| author_sort | Christina Kazantzidou |
| collection | DOAJ |
| description | 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 a port‐Hamiltonian system (PHS). The IDA‐PBC methodology has been successfully utilised in several applications, however, there has been minimal development in tuning methods that can analytically assist the designer to achieve desired response characteristics. It is demonstrated that eigenvalue assignment of the linearised target dynamics in PHS form can significantly aid the tuning process. Based on this analysis, the authors propose a systematic tuning approach to achieve certain performance and response characteristics. A comprehensive demonstration of the proposed tuning method is provided for the position regulation of an underwater vehicle in the horizontal plane in a case study, where numerical analysis of robustness is also conducted. |
| first_indexed | 2024-04-12T18:57:42Z |
| format | Article |
| id | doaj.art-7ba9aaeb997e4050a55234ceb0e125b9 |
| institution | Directory Open Access Journal |
| issn | 1751-8644 1751-8652 |
| language | English |
| last_indexed | 2024-04-12T18:57:42Z |
| publishDate | 2021-04-01 |
| publisher | Wiley |
| record_format | Article |
| series | IET Control Theory & Applications |
| spelling | doaj.art-7ba9aaeb997e4050a55234ceb0e125b92022-12-22T03:20:15ZengWileyIET Control Theory & Applications1751-86441751-86522021-04-0115685086010.1049/cth2.12087On the tuning of a nonlinear energy‐based regulator for the positioning of a fully actuated surface marine craftChristina Kazantzidou0Tristan Perez1Francis Valentinis2Alejandro Donaire3School of Electrical Engineering and Robotics Queensland University of Technology Brisbane AustraliaSchool of Electrical Engineering and Computer Science Queensland University of Technology Brisbane AustraliaSchool of Engineering RMIT University Melbourne AustraliaSchool of Engineering The University of Newcastle Callaghan AustraliaAbstract 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 a port‐Hamiltonian system (PHS). The IDA‐PBC methodology has been successfully utilised in several applications, however, there has been minimal development in tuning methods that can analytically assist the designer to achieve desired response characteristics. It is demonstrated that eigenvalue assignment of the linearised target dynamics in PHS form can significantly aid the tuning process. Based on this analysis, the authors propose a systematic tuning approach to achieve certain performance and response characteristics. A comprehensive demonstration of the proposed tuning method is provided for the position regulation of an underwater vehicle in the horizontal plane in a case study, where numerical analysis of robustness is also conducted.https://doi.org/10.1049/cth2.12087 |
| spellingShingle | Christina Kazantzidou Tristan Perez Francis Valentinis Alejandro Donaire On the tuning of a nonlinear energy‐based regulator for the positioning of a fully actuated surface marine craft IET Control Theory & Applications |
| title | On the tuning of a nonlinear energy‐based regulator for the positioning of a fully actuated surface marine craft |
| title_full | On the tuning of a nonlinear energy‐based regulator for the positioning of a fully actuated surface marine craft |
| title_fullStr | On the tuning of a nonlinear energy‐based regulator for the positioning of a fully actuated surface marine craft |
| title_full_unstemmed | On the tuning of a nonlinear energy‐based regulator for the positioning of a fully actuated surface marine craft |
| title_short | On the tuning of a nonlinear energy‐based regulator for the positioning of a fully actuated surface marine craft |
| title_sort | on the tuning of a nonlinear energy based regulator for the positioning of a fully actuated surface marine craft |
| url | https://doi.org/10.1049/cth2.12087 |
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