NESO-Based Path Following Control for Underactuated Hovercrafts with Unknown Nonlinear Uncertainties and a Safety Limit Constraint

Abstract

In this brief, the path following control problem of underactuated hovercrafts subject to nonlinear time-varying uncertainties and a safety limit constraint (SLC) is addressed. A novel homogenous nonlinear extended state observer (NESO)-based safe motion controller for a path following control scenario of underactuated hovercrafts is proposed. First, a NESO is constructed to estimate and compensate the nonlinear time-varying uncertainties for the underactuated hovercraft. Then, a NESO-based backstepping sliding mode control (BSMC) law with a turning SLC is proposed to achieve the yaw control for underactuated hovercrafts, which improves both safety and maneuverability of the underactuated hovercraft during the path following control scenario. The nonlinear time-varying turning SLC is first directly taken into the control system design, which is achieved by introducing an auxiliary dynamic system to limit the virtual input control during the backstepping design process. A NESO-based backstepping surge control law is also designed to achieve the surge control for underactuated hovercrafts. Furthermore, all error signals of the proposed closed-loop control system are proven to be bounded. Finally, an application case is tested on an underactuated hovercraft to illustrate the effectiveness and superiority of the designed control scheme.