Position tracking for a nonlinear underactuated hovercraft: Controller design and experimental results

• Type: Article in International Conference Proceedings Book
• Date: 2003

Authors

Aguiar, AP (Author) Other; Cremean, L (Author) Other; Hespanha, JP (Author) Other

Conference proceedings International

Title: 42ND IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-6, PROCEEDINGS

Pages: 3858-3863

42nd IEEE Conference on Decision and Control

Maui, HI, DEC 09-12, 2003

Indexing

ISI Web of Knowledge - 49 Citations

Scopus - 78 Citations

Other information

Authenticus ID: P-008-SDD

Abstract (EN): This paper addresses the position tracking control problem of an underactuated hovercraft vehicle. A nonlinear Lyapunov-based tracking controller is developed and proved to exponentially stabilize the position tracking error to a neighborhood of the origin that can be made arbitrarily small. The desired trajectory does not need to be a specially chosen (e.g., a trimming trajectory). In fact, it can be any sufficiently smooth bounded curve parameterized by time. The nonlinear controller has been experimentally validated on the Caltech Multi-Vehicle Wireless Testbed (MVWT), a platform for the development and implementation of novel single- and multiple-vehicle control designs. Experimental results are given for tracking of prescribed trajectories and for target following.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 6