Show simple item record

dc.contributor.authorMuhammad, Shah
dc.contributor.authorDòria Cerezo, Arnau
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament d'Enginyeria Elèctrica
dc.identifier.citationMuhammad, S.; Doria-Cerezo, A. Output feedback passivity based controllers for dynamic positioning of ships. A: Dynamic Positioning Conference. "Dynamic Positioning Conference". Huston: 2010.
dc.description.abstractIn 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 law using the IDA-PBC methodology. A salient feature of this study is that the proposed control laws are output feedback controllers and the relative velocity measurement is not required. First, we design and analyze two static controllers which can be seen as a nonlinear version of the conventional PD controllers. In presence of unknown disturbances, these controllers do not provide the desired regulation properties. To remove this discrepancy we propose, also in the context of the IDA-PBC technique, a dynamic extension of the system and obtain two new controllers which have the desired regulation properties. These new control laws can be seen as a nonlinear version of the conventional PID controllers. Simulations are included to validate the theoretical results.
dc.format.extent1 p.
dc.rightsAttribution-NonCommercial-NoDerivs 3.0 Spain
dc.subjectÀrees temàtiques de la UPC::Enginyeria mecànica
dc.subjectÀrees temàtiques de la UPC::Informàtica::Aplicacions de la informàtica::Aplicacions informàtiques a la física i l‘enginyeria
dc.subject.lcshElectric controllers
dc.subject.lcshElectric machinery
dc.titleOutput feedback passivity based controllers for dynamic positioning of ships
dc.typeConference report
dc.contributor.groupUniversitat Politècnica de Catalunya. ACES - Control Avançat de Sistemes d'Energia
dc.rights.accessOpen Access
dc.description.versionPostprint (published version)
upcommons.citation.authorMuhammad, S.; Doria-Cerezo, A.
upcommons.citation.contributorDynamic Positioning Conference
upcommons.citation.publicationNameDynamic Positioning Conference

Files in this item


This item appears in the following Collection(s)

Show simple item record

Except where otherwise noted, content on this work is licensed under a Creative Commons license: Attribution-NonCommercial-NoDerivs 3.0 Spain