Residential College | false |
Status | 已發表Published |
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 Name | 21st IFAC World Congress 2020 |
Source Publication | IFAC-PapersOnLine |
Volume | 53 |
Issue | 2 |
Pages | 8959-8964 |
Conference Date | 2020/07/12-2020/07/17 |
Conference Place | Berlin |
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. |
Keyword | Nonlinear Control Observers Robust Control Underactuated Hovercraft |
DOI | 10.1016/j.ifacol.2020.12.1482 |
URL | View the original |
Indexed By | CPCI-S |
Language | 英語English |
WOS Research Area | Automation & Control Systems |
WOS Subject | Automation & Control Systems |
WOS ID | WOS:000652593100033 |
Scopus ID | 2-s2.0-85105108293 |
Fulltext Access | |
Citation statistics | |
Document Type | Conference paper |
Collection | DEPARTMENT OF ELECTRICAL AND COMPUTER ENGINEERING |
Affiliation | 1.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 Affilication | Faculty 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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