Safety-Guaranteed Trajectory Tracking Control for the Underactuated Hovercraft with State and Input Constraints
Joint Authors
Fu, Mingyu
Gao, Shuang
Wang, Chenglong
Source
Mathematical Problems in Engineering
Issue
Vol. 2017, Issue 2017 (31 Dec. 2017), pp.1-12, 12 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2017-10-25
Country of Publication
Egypt
No. of Pages
12
Main Subjects
Abstract EN
This paper develops a safety-guaranteed trajectory tracking controller for hovercraft by using a safety-guaranteed auxiliary dynamic system, an integral sliding mode control, and an adaptive neural network method.
The safety-guaranteed auxiliary dynamic system is designed to implement system state and input constraints.
By considering the relationship of velocity and resistance hump, the velocity of hovercraft is constrained to eliminate the effect of resistance hump and obtain better stability.
And the safety limit of drift angle is well performed to guarantee the light safe maneuvers of hovercraft tracking with high velocities.
In view of the natural capabilities of actuators, the control input is constrained.
High nonlinearity and model uncertainties of hovercraft are approximated by employing adaptive radical basis function neural networks.
The proposed controller guarantees the boundedness of all the closed-loop signals.
Specifically, the tracking errors are uniformly ultimately bounded.
Numerical simulations are implemented to demonstrate the efficacy of the designed controller.
American Psychological Association (APA)
Fu, Mingyu& Gao, Shuang& Wang, Chenglong. 2017. Safety-Guaranteed Trajectory Tracking Control for the Underactuated Hovercraft with State and Input Constraints. Mathematical Problems in Engineering،Vol. 2017, no. 2017, pp.1-12.
https://search.emarefa.net/detail/BIM-1192708
Modern Language Association (MLA)
Fu, Mingyu…[et al.]. Safety-Guaranteed Trajectory Tracking Control for the Underactuated Hovercraft with State and Input Constraints. Mathematical Problems in Engineering No. 2017 (2017), pp.1-12.
https://search.emarefa.net/detail/BIM-1192708
American Medical Association (AMA)
Fu, Mingyu& Gao, Shuang& Wang, Chenglong. Safety-Guaranteed Trajectory Tracking Control for the Underactuated Hovercraft with State and Input Constraints. Mathematical Problems in Engineering. 2017. Vol. 2017, no. 2017, pp.1-12.
https://search.emarefa.net/detail/BIM-1192708
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1192708