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Stabilization of a nonlinear underactuated hovercraft
Author(s) -
Fantoni I.,
Lozano R.,
Mazenc F.,
Pettersen K. Y.
Publication year - 2000
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/1099-1239(20000715)10:8<645::aid-rnc503>3.0.co;2-u
Subject(s) - underactuation , control theory (sociology) , kinematics , convergence (economics) , nonlinear system , lyapunov function , position (finance) , polynomial , degrees of freedom (physics and chemistry) , mathematics , control (management) , computer science , engineering , mathematical analysis , physics , classical mechanics , artificial intelligence , finance , quantum mechanics , economics , economic growth
We consider the control of a hovercraft having only two control inputs with three degrees of freedom. The model is obtained from equations of a simplified ship which is nonlinear and underactuated. Using a co‐ordinate transformation the model is given by polynomial equations which describe its kinematics and dynamics. Two control laws are proposed. The first one controls the velocity of the hovercraft. The other one stabilizes both its position and the (underactuated) side velocity and provides global convergence to the origin. The convergence analysis is based on a Lyapunov approach. Copyright © 2000 John Wiley & Sons, Ltd.