Guidance, Navigation, and Control of Unmanned Hovercraft

被引：0

作者：

Kim, Kilsoo ^{[1
]}

Lee, Young-Ki ^{[1
]}

Oh, Sehwan ^{[1
]}

Moroniti, David ^{[1
]}

Mavris, Dimitri ^{[1
]}

Vachtsevanos, George J. ^{[2
]}

Papamarkos, Nikos ^{[3
]}

Georgoulas, George ^{[4
]}

机构：

[1] Georgia Inst Technol, Sch Aerosp Engn, Atlanta, GA 30332 USA

[2] Georgia Inst Technol, Sch Elect & Comp Engn, Atlanta, GA 30332 USA

[3] Democritus Univ Thrace, Komotini, Greece

[4] Technol Educ Inst Epirus, Dept Informat & Telecommun Technol, KIC Lab, GR-47100 Epirus, Greece

来源：

2013 21ST MEDITERRANEAN CONFERENCE ON CONTROL AND AUTOMATION (MED) | 2013年

关键词：

UNDERACTUATED SURFACE VESSEL; UNIFORM ASYMPTOTIC STABILIZATION; GLOBAL TRACKING CONTROL; EXPONENTIAL STABILIZATION; PRACTICAL STABILIZATION; POSITION TRACKING; ADAPTIVE-CONTROL; SHIPS; DESIGN; SYSTEM;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper introduces a simulation and evaluation of guidance, navigation, and control algorithms applied to an autonomous hovercraft. A line-of-sight guidance law is adopted in conjunction with a neural network based adaptive dynamic inversion control scheme for the underactuated hovercraft following a prescribed path. The simulation result demonstrates that the guidance and control scheme can be effective in waypoint following of the underactuated hovercraft, especially, when external disturbances exist. It is also shown that the error signals are bounded using Lyapunov's direct method.

引用

页码：380 / 387

页数：8

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