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A kind of an air cushion vehicle (ACV) is known as a hovercraft which carries out a cruise by blowing off the air from the bottom of the body. The ACV has many advantages, such as amphibian vehicle, large payload, and so on. However, the ACV has drawbacks such as its drivability and controllability are bad. An improvement of the drivability is effective for the control of the ACV and the disturbance rejection performance of the controller is very significant. In this research, the position of the ACV is estimated with the image information of two cameras. When the ACV runs on the straight line, the ACV is kept on the line by the designed controller. The usefulness of the designed controller is confirmed through the simulation and an experiment.

Design of ACV Controller by Using the Image Information of Two Cameras