文章基本信息

标题：Global Practical Tracking for a Hovercraft with Unmeasured Linear Velocity and Disturbances
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作者：Wei Xie ; David Cabecinhas ; Rita Cunha 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2020
卷号：53
期号：2
页码：8959-8964
DOI：10.1016/j.ifacol.2020.12.1482
语种：English
出版社：Elsevier
摘要：AbstractThis paper addresses the design and experimental validation of a trajectory tracking controller for an underactuated hovercraft with unmeasured linear velocity and subject to time-varying disturbances. The unmeasured linear velocity and disturbances are recovered by designing nonlinear observers. A control law is proposed that, in closed-loop with the velocity and disturbance observers, can robustly steer the hovercraft toward and stay within a neighborhood of a reference trajectory. To demonstrate the performance and robustness of the proposed control strategy, we present and analyze experimental results obtained with a model-scale hovercraft.
关键词：KeywordsNonlinear controlrobust controlunderactuated hovercraftobservers