| Course-keeping control of underactuated hovercraft |
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| 引用本文： | HANBing ZHAOGuo-liang. Course-keeping control of underactuated hovercraft[J]. 船舶与海洋工程学报, 2004, 3(1): 24-27. DOI: 10.1007/BF02918642 |
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| 作者姓名： | HANBing ZHAOGuo-liang |
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| 作者单位： | SchoolofAutomation,HarbinEngineeringUniversity,Harbin150001,China |
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| 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.
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| 关 键 词： | 气垫船 非线性反馈控制 级数收敛 过程控制 数值模拟 |
Course-keeping control of underactuated hovercraft |
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| Han Bing,Zhao Guo-liang. Course-keeping control of underactuated hovercraft[J]. Journal of Marine Science and Application, 2004, 3(1): 24-27. DOI: 10.1007/BF02918642 |
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| Authors: | Han Bing Zhao Guo-liang |
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| Affiliation: | (1) School of Automation, Harbin Engineering University, 150001 Harbin, China |
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| Abstract: | 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. |
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| Keywords: | hovercraft underactuated course-keeping exponential convergence |
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