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  • Output feedback passivity based controllers for dynamic positioning of ships 

    Muhammad, Shah; Dòria Cerezo, Arnau (2010)
    Conference report
    Open Access
    In this paper, a family of passivity based controllers for dynamic positioning of ships is presented. We exploit the idea of shaping the energy function of the closed loop system to obtain different formulations of the ...
  • Passivity-based control applied to the dynamic positioning of ships 

    Muhammad, Shah; Dòria Cerezo, Arnau (2012-03-15)
    Article
    Open Access
    A family of passivity-based controllers for dynamic positioning of ships is presented. The authors exploit the idea of shaping the energy function of the closed-loop system to obtain different formulations of the passivity-based ...