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|Title:||Passivation-based integrated guidance and control of underactuated marine craft||Authors:||Lum, K.-Y.
|Keywords:||Control system design
|Issue Date:||2007||Citation:||Lum, K.-Y.,Zhang, Z.-J.,Png, E.-K. (2007). Passivation-based integrated guidance and control of underactuated marine craft. IFAC Proceedings Volumes (IFAC-PapersOnline) 7 (PART 1) : 147-152. ScholarBank@NUS Repository.||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. Copyright © 2007 IFAC.||Source Title:||IFAC Proceedings Volumes (IFAC-PapersOnline)||URI:||http://scholarbank.nus.edu.sg/handle/10635/111627||ISBN:||9783902661623||ISSN:||14746670|
|Appears in Collections:||Staff Publications|
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