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
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;
Conference_Titel :
Control Applications, 2000. Proceedings of the 2000 IEEE International Conference on
Conference_Location :
Anchorage, AK
Print_ISBN :
0-7803-6562-3
DOI :
10.1109/CCA.2000.897513
