A Novel GSMC-based ACV Trajectory Tracking Under Unknown Disturbance Upper Bound and Time-varying Model Coefficients

Global Prescribed Performance-Based Fault-Tolerant Control for Trajectory Tracking of the ACV With Uncertainty

“…where M = diag{m, m, I x , I z } is the inertia matrix and C(ν) is the Coriolis matrix. F(ν) is the known total drags are denoted by F(ν) = [F u , F v , F p , F r ] T , the details can be obtained in [2]. η = [x, y, ϕ, ψ] T is the position vector matrix of the earth-fixed frame, including the surge and sway position x, y, the roll and yaw angle ϕ, ψ. ν = [u, v, p, r] T is the bodyfixed frame velocity vector matrix, u,v,p,r are the surge, sway, roll and yaw velocity of the ACV respectively.…”

“…The unavailable dynamical part, which in this paper we combine with external disturbances, is collectively referred to here as the uncertain dynamics part of the ACV and described by the matrix D(ν, η), which includes the variable parameters, external disturbances, and the unmodelled error. A detailed description of the hydro-air resistance of hovercraft can refer to the [2]. To facilitate the design of the observer controller below, we have rewritten system (1) in the following form:…”

“…W ITH the widespread use of the air cushion vehicle (ACV) in military and civilian applications [1], the fault-tolerant control systems for Trajectory tracking of the ACV is a hot topic of current research. The huge challenge of the tracking control system for amphibious ACV with unknown perturbations, unmodeled errors and fail-safe issues is mainly attributed to the high speeds, complex operating environment and special structures [2]. It is therefore urgent to design fault-tolerant control systems of the ACV with greater robustness reject unknown disturbance and fault, with fast response [3] and high precision of tracking errors.…”