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Nonlinear receding horizon control of an underactuated hovercraft
Author(s) -
Seguchi Hiroaki,
Ohtsuka Toshiyuki
Publication year - 2003
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/rnc.824
Subject(s) - underactuation , control theory (sociology) , horizon , nonlinear system , position (finance) , control (management) , engineering , computer science , control engineering , mathematics , physics , economics , artificial intelligence , geometry , quantum mechanics , finance
This paper describes nonlinear receding horizon control of an underactuated hovercraft with discrete‐valued inputs and its hardware implementation. The hovercraft has two fixed thrusters, and the thrusters generate thrusts of only three discrete values, that is, forward, backward and zero thrusts. Nonlinear receding horizon control is applied to position control of the hovercraft with the discrete‐valued inputs approximated by constrained continuous‐valued inputs. Although nonlinear receding horizon control requires real‐time constrained optimization, a fast algorithm is successfully implemented for the hardware experiment. Copyright © 2003 John Wiley & Sons, Ltd.