Investigation of Modern Control Algorithems in Mechatronic System

Abstract

The hovercraft is a fascinating mechatronic system that possesses the unique ability to float above land or water. In designing a mechatronic system, there are many factors should be considered, such as mechanical body, control system and actuators, etc.The objective of the paper is to design, simulate and implement an autonomous model of a small hovercraft. State-space method is used to represent the dynamics of a hovercraft. A real time layered fuzzy navigator for a hovercraft in a dynamic environment is proposed. The system consists of a Takagi-Sugeno-type fuzzy motion planner and a modified proportional navigation based fuzzy controller. MATLAB/Simulink software tool is used to design and verify the proposed algorithm. KEY WORDSMechatronic system, Hovercraft, fuzzy control, Takagi-Sugeno-type fuzzy system. ---