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Title: Passivation-based integrated guidance and control of underactuated marine craft
Authors: Lum, K.-Y. 
Zhang, Z.-J.
Png, E.-K.
Keywords: Control system design
Marine systems
Passive compensation
Trajectory planning
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)
ISBN: 9783902661623
ISSN: 14746670
Appears in Collections:Staff Publications

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