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Passivity-based Trajectory-tracking for Marine Craft with Disturbance Rejection

机译：基于无源性的具有干扰抑制能力的船舶航迹跟踪

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This paper presents a Hamiltonian model of marine vehicle dynamics in six degrees of freedom in both body-fixed and inertial momentum coordinates. The model in body-fixed coordinates presents a particular structure of the mass matrix that allows the adaptation and application of passivity-based control interconnection and damping assignment design methodologies developed for robust stabilisation of mechanical systems in terms of generalised coordinates. As an example of application, we follow this methodology to design a passivity-based tracking controller with integral action for fully actuated vehicles in six degrees of freedom. We also describe a momentum transformation that allows an alternative model representation that resembles general port-Hamiltonian mechanical systems with a coordinate dependent mass matrix. This can be seen as an enabling step towards the adaptation of the theory of control of port-Hamiltonian systems developed in robotic manipulators and multi-body mechanical systems to the case of marine craft dynamics.
机译：本文介绍了在人体固定和惯性动量坐标下六个自由度的海洋动力学动力学的哈密顿量模型。人体固定坐标系中的模型呈现了质量矩阵的特定结构，该结构允许根据通用坐标系对机械系统的鲁棒稳定性开发的基于无源的控制互连和阻尼分配设计方法进行调整和应用。作为应用示例，我们遵循此方法来设计基于被动性的跟踪控制器，该控制器具有用于六个自由度的全驱动车辆的积分作用。我们还描述了一种动量变换，该动量变换允许使用类似于坐标的质量矩阵的通用port-Hamiltonian机械系统的替代模型表示。这可以看作是使在机器人操纵器和多体机械系统中开发的哈密尔顿港口系统的控制理论适应海洋航行器动力学的一个可行步骤。

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