Safety-Guaranteed Trajectory Tracking Control for the Underactuated Hovercraft with State and Input Constraints

Abstract

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.

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

“…The proposed safe disturbance rejection yaw control law can achieve the limitation of the turning velocity to the turning safety limit range by introducing an auxiliary variable to limit the virtual control. Compared with [25] and [26], the proposed safe controller can achieve the constraint of the nonlinear time-varying turning safety limit, and the proposed safe controller is easy to operate in practice. Furthermore, to compensate for the influence of the unknown time-varying uncertainties on the control effect, the NESO and backstepping sliding mode are adopted to design the yaw controller of underactuated hovercrafts, which significantly improves the safety and maneuverability of underactuated hovercrafts.…”

“…Although there are many studies on the control methods of the underactuated hovercraft and better control performances have been achieved, the safety limit has not been taken into account in the above research. To improve the safety of underactuated hovercrafts, the safety limit constraint (SLC) was considered in controller design by [25,26]. A safety-guaranteed auxiliary dynamic system was designed to improve the safety and maneuverability of underactuated hovercrafts by Fu in [25], where the yaw controller with the safety limit was designed by control input constraint.…”

“…To improve the safety of underactuated hovercrafts, the safety limit constraint (SLC) was considered in controller design by [25,26]. A safety-guaranteed auxiliary dynamic system was designed to improve the safety and maneuverability of underactuated hovercrafts by Fu in [25], where the yaw controller with the safety limit was designed by control input constraint. However, the turning limit constraint is indirectly realized by restricting the control input.…”

Safety-Guaranteed Course Control of Air Cushion Vehicle with Dynamic Safe Space Constraint

“…An air cushion vehicle (ACV, as shown in Figure 1) is supported totally by its air cushion, with a flexible skirt system around its periphery to seal the cushion air [1]. The ACV is able to run at high speed over shallow water, rapids, ice, and swamp where no other craft can go.…”

“…If speed is 14 knots, the limits of TR and SA are 3.5 ∘ / and 20 ∘ . The safety limit of TR and SA has been considered in the course controller and trajectory controller by Mingyu Fu [1,15]. However, the constant safety limit is used in them.…”