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In this work we propose a family of trajectory tracking controllers formarine craft in the port-Hamiltonian (pH) framework using virtual differentialpassivity based control (v-dPBC). Two pH models of marine craft are considered,one in a body frame and another in an inertial frame. The structure andworkless forces of pH models are exploited to design two virtual controlsystems which are related to the original marine craft's pH models. Thesevirtual systems are rendered differentially passive with an imposedsteady-state trajectory, both by means of a control scheme. Finally, theoriginal marine craft pH models in closed-loop with above controllers solve thetrajectory tracking problem. The performance of the closedloop system isevaluated on numerical simulations.

Tracking Control of Marine Craft in the port-Hamiltonian Framework: A Virtual Differential Passivity Approach