Stabilization of a nonlinear underactuated hovercraft

Author

Fantoni, I. ; Lozano, R. ; Mazenc, F. ; Pettersen, K.Y.

Author_Institution

Deudiasyc, CNRS, Compiegne, France

Volume

3

fYear

1999

fDate

1999

Firstpage

2533

Abstract

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 coordinate 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

Keywords

Lyapunov methods; hovercraft; nonlinear control systems; position control; stability; velocity control; Lyapunov approach; control laws; coordinate transformation; dynamics; global convergence; kinematics; nonlinear underactuated hovercraft; polynomial equations; position control; side velocity; stabilization; velocity control; Backstepping; Control systems; Damping; Marine vehicles; Medical control systems; Nonlinear equations; Open loop systems; Propellers; Vehicle dynamics; Velocity control;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1999. Proceedings of the 38th IEEE Conference on

Conference_Location

Phoenix, AZ

ISSN

0191-2216

Print_ISBN

0-7803-5250-5

Type

conf

DOI

10.1109/CDC.1999.831309

Filename

831309