Safety-guaranteed trajectory tracking control for the underactuated hovercraft with state and input constraints
type: Item
instance of: scholarly article
title: Safety-guaranteed trajectory tracking control for the underactuated hovercraft with state and input constraints
zbMATH Open document ID: 1426.93125
DOI: 10.1155/2017/9452920
author: Mingyu Fu
author: Shuang Gao
author: Chenglong Wang
published in: Mathematical Problems in Engineering
publication date: 2018-11-05T00:00:00Z
review text: Summary: This paper develops a safety-guaranteed trajectory tracking controller for hovercraft by using a safety-guaranteed auxiliary dynamic system, an integral sliding mode control, and an adaptive neural network method. The safety-guaranteed auxiliary dynamic system is designed to implement system state and input constraints. By considering the relationship of velocity and resistance hump, the velocity of hovercraft is constrained to eliminate the effect of resistance hump and obtain better stability. And the safety limit of drift angle is well performed to guarantee the light safe maneuvers of hovercraft tracking with high velocities. In view of the natural capabilities of actuators, the control input is constrained. High nonlinearity and model uncertainties of hovercraft are approximated by employing adaptive radical basis function neural networks. The proposed controller guarantees the boundedness of all the closed-loop signals. Specifically, the tracking errors are uniformly ultimately bounded. Numerical simulations are implemented to demonstrate the efficacy of the designed controller.
Mathematics Subject Classification ID: 93C40
Mathematics Subject Classification ID: 93C10
zbMATH DE Number: 6972681
MaRDI profile type: Publication
full work available at URL: https://doi.org/10.1155/2017/9452920
OpenAlex ID: W2765837799
cites work: Q3153348
cites work: Robust dynamic positioning of ships with disturbances under input saturation
cites work: Adaptive tracking control of uncertain MIMO nonlinear systems with input constraints
cites work: Trajectory tracking sliding mode control of underactuated AUVs
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description: scientific article; zbMATH DE number 6972681