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Global practical tracking for a hovercraft with unmeasured linear velocity and disturbances
Xie, Wei1; Cabecinhas, David1,2; Cunha, Rita2; Silvestre, Carlos1,2
2021-04-14
Conference Name21st IFAC World Congress 2020
Source PublicationIFAC-PapersOnLine
Volume53
Issue2
Pages8959-8964
Conference Date2020/07/12-2020/07/17
Conference PlaceBerlin
Abstract

This paper addresses the design and experimental validation of a trajectory tracking controller for an underactuated hovercraft with unmeasured linear velocity and subject to time-varying disturbances. The unmeasured linear velocity and disturbances are recovered by designing nonlinear observers. A control law is proposed that, in closed-loop with the velocity and disturbance observers, can robustly steer the hovercraft toward and stay within a neighborhood of a reference trajectory. To demonstrate the performance and robustness of the proposed control strategy, we present and analyze experimental results obtained with a model-scale hovercraft.

KeywordNonlinear Control Observers Robust Control Underactuated Hovercraft
DOI10.1016/j.ifacol.2020.12.1482
URLView the original
Indexed ByCPCI-S
Language英語English
WOS Research AreaAutomation & Control Systems
WOS SubjectAutomation & Control Systems
WOS IDWOS:000652593100033
Scopus ID2-s2.0-85105108293
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Citation statistics
Document TypeConference paper
CollectionDEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING
Affiliation1.Faculty of Science and Technology, University of Macau, Macao
2.Institute for Systems and Robotics, Instituto Superior Técnico, Universidade de Lisboa, Lisboa, 1049-001, Portugal
First Author AffilicationFaculty of Science and Technology
Recommended Citation
GB/T 7714
Xie, Wei,Cabecinhas, David,Cunha, Rita,et al. Global practical tracking for a hovercraft with unmeasured linear velocity and disturbances[C], 2021, 8959-8964.
APA Xie, Wei., Cabecinhas, David., Cunha, Rita., & Silvestre, Carlos (2021). Global practical tracking for a hovercraft with unmeasured linear velocity and disturbances. IFAC-PapersOnLine, 53(2), 8959-8964.
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