文章基本信息

标题：Safety-Guaranteed Course Control of Air Cushion Vehicle with Dynamic Safe Space Constraint
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作者：Mingyu Fu ; Shuang Gao ; Chenglong Wang 等
期刊名称：Journal of Control Science and Engineering
印刷版ISSN：1687-5249
电子版ISSN：1687-5257
出版年度：2018
卷号：2018
DOI：10.1155/2018/9687282
出版社：Hindawi Publishing Corporation
摘要：This paper develops a safety-guaranteed course controller for air cushion vehicle (ACV). As the safety criterion, the unique safety limit of ACV including turn rate (TR) and sideslip angle (SA) changes with the speed when ACV is turning. To be more intuitive to show the change of safety limit and more convenient for safety monitoring and control, dynamic safe space of ACV is proposed. If the work point is within the safe space during the manual operation or automatic control, the sailing of ACV is safe. Then, the safety-guaranteed controller is designed to keep TR and SA within the safe space during the course control process based on the dynamic safe space constraint, terminal sliding mode control, and adaptive mechanism. The adaptive mechanism can effectively estimate the system uncertainty and external disturbances online without the requirement of their upper bounds. The proposed controller guarantees the convergence of tracking error. Simulations are implemented to demonstrate the efficacy of the designed controller.