Course-keeping control of underactuated hovercraft  

Course-keeping control of underactuated hovercraft

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作  者:HANBing ZHAOGuo-liang 

机构地区:[1]SchoolofAutomation,HarbinEngineeringUniversity,Harbin150001,China

出  处:《Journal of Marine Science and Application》2004年第1期24-27,共4页船舶与海洋工程学报(英文版)

摘  要:The course-keeping control of underactuated hovercraft with two aft propellers was considered. The control of the heading error and cross-track error was accomplished by the yaw torque merely in this case. The hovercraft dynamic model is nonlinear and underactuated. At first the Controllability of course-keeping control for hovercraft was proved, then a course-keeping control law was derived that keeps hovercraft heading constant as well as minimizes the lateral movement of hovercraft. The proposed law guarantees heading error and sway error all converge to zero exponentially. Simulation tests were carried out to illustrate the effectiveness of the proposed control law. For further research, the disturbance influence would be considered in the dynamic equations.

关 键 词:HOVERCRAFT UNDERACTUATED COURSE-KEEPING exponential convergence 

分 类 号:U674.943[交通运输工程—船舶及航道工程]

 

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