Safety-guaranteed course control of air cushion vehicle with dynamic safe space constraint
type: Item
instance of: scholarly article
title: Safety-guaranteed course control of air cushion vehicle with dynamic safe space constraint
zbMATH Open document ID: 1403.93064
DOI: 10.1155/2018/9687282
author: Mingyu Fu
author: Shuang Gao
author: Chenglong Wang
published in: Journal of Control Science and Engineering
publication date: 2018-12-12T00:00:00Z
review text: Summary: This paper develops a safety-guaranteed course controller for Air Cushion Vehicle (ACV). As the safety criterion, the unique safety limit of ACV including Turn Rate (TR) and Sideslip Angle (SA) changes with the speed when ACV is turning. To be more intuitive to show the change of safety limit and more convenient for safety monitoring and control, dynamic safe space of ACV is proposed. If the work point is within the safe space during the manual operation or automatic control, the sailing of ACV is safe. Then, the safety-guaranteed controller is designed to keep TR and SA within the safe space during the course control process based on the dynamic safe space constraint, terminal sliding mode control, and adaptive mechanism. The adaptive mechanism can effectively estimate the system uncertainty and external disturbances online without the requirement of their upper bounds. The proposed controller guarantees the convergence of tracking error. Simulations are implemented to demonstrate the efficacy of the designed controller.
Mathematics Subject Classification ID: 93B12
Mathematics Subject Classification ID: 93C95
Mathematics Subject Classification ID: 93C41
Mathematics Subject Classification ID: 93D05
zbMATH DE Number: 6992176
zbMATH Keywords: safety-guaranteed course controller
zbMATH Keywords: cushion vehicle
zbMATH Keywords: terminal sliding mode control
zbMATH Keywords: system uncertainty
MaRDI profile type: Publication
full work available at URL: https://doi.org/10.1155/2018/9687282
OpenAlex ID: W2889129274
cites work: Safety-guaranteed trajectory tracking control for the underactuated hovercraft with state and input constraints
cites work: Trajectory tracking sliding mode control of underactuated AUVs
description: scientific article; zbMATH DE number 6992176