DocumentCode
2806316
Title
The control of the hovercraft system: a flatness based approach
Author
Sira-Ramírez, Hebertt ; Ibanez, Carlos Aguilar
Author_Institution
CINVESTAV-IPN, Mexico City, Mexico
fYear
2000
fDate
2000
Firstpage
692
Lastpage
697
Abstract
A simplified model of the hovercraft system, used in the literature to illustrate nonlinear control options in underactuated systems, is shown to be differentially flat. The flat outputs are given by the position coordinates with respect to the fixed earth frame. This fact is exploited for the design of a dynamic feedback controller for the global asymptotic stabilization of the system´s trajectory tracking error with respect to off-line planned position trajectories
Keywords
asymptotic stability; control system synthesis; feedback; hovercraft; nonlinear control systems; position control; differentially flat model; dynamic feedback controller; fixed earth frame; flatness based approach; global asymptotic stabilization; hovercraft system; nonlinear control options; off-line planned position trajectories; trajectory tracking error; underactuated systems; Adaptive control; Control systems; Earth; Error correction; Feedback control; Marine vehicles; Nonlinear control systems; Nonlinear dynamical systems; State feedback; Trajectory;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Applications, 2000. Proceedings of the 2000 IEEE International Conference on
Conference_Location
Anchorage, AK
Print_ISBN
0-7803-6562-3
Type
conf
DOI
10.1109/CCA.2000.897513
Filename
897513
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