DocumentCode
3313809
Title
Trajectory control of an air cushion vehicle
Author
Hayashi, Ryota ; Osuka, Koichi ; Ono, Toshiro
Author_Institution
Dept. of Mech. Syst. Eng., Osaka Prefecture Univ., Japan
Volume
3
fYear
1994
fDate
12-16 Sep 1994
Firstpage
1906
Abstract
In this report several propulsion systems of air cushion vehicles are introduced, and a state feedback control law for trajectory control of an air cushion vehicle is proposed. We consider that the vehicle should be controlled so that it may not drift sideways for good driving performance. We apply a Lyapunov-like function to develop a nonlinear state feedback control law. Effectiveness of the nonlinear state feedback control law for an ACV model is verified through numerical simulations
Keywords
Lyapunov methods; aircraft; hovercraft; nonlinear control systems; state feedback; Lyapunov-like function; air cushion vehicle; hovercraft; nonlinear state feedback control; propulsion systems; trajectory control; Control systems; Control theory; Fluid dynamics; Marine vehicles; Numerical simulation; Propellers; Propulsion; State feedback; Vehicle driving; Vehicle dynamics;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems '94. 'Advanced Robotic Systems and the Real World', IROS '94. Proceedings of the IEEE/RSJ/GI International Conference on
Conference_Location
Munich
Print_ISBN
0-7803-1933-8
Type
conf
DOI
10.1109/IROS.1994.407600
Filename
407600
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