{"title":"Trajectory control of underactuated hovercraft","authors":"Jingbo Zhao, Jin-Liang Pang","doi":"10.1109/WCICA.2010.5555061","DOIUrl":null,"url":null,"abstract":"The track-keeping control of a hovercraft is considered. The hovercraft dynamic model is nonlinear and underactuated. In this paper, a control law is established that drives the sway velocity error and heading error to zero. Simulation tests are carried out for illustrating the effectiveness of the proposed method.","PeriodicalId":315420,"journal":{"name":"2010 8th World Congress on Intelligent Control and Automation","volume":"74 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2010-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"11","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2010 8th World Congress on Intelligent Control and Automation","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/WCICA.2010.5555061","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 11
Abstract
The track-keeping control of a hovercraft is considered. The hovercraft dynamic model is nonlinear and underactuated. In this paper, a control law is established that drives the sway velocity error and heading error to zero. Simulation tests are carried out for illustrating the effectiveness of the proposed method.
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