Title :
Trajectory control of an air cushion vehicle
Author :
Hayashi, Ryota ; Osuka, Koichi ; Ono, Toshiro
Author_Institution :
Dept. of Mech. Syst. Eng., Osaka Prefecture Univ., Japan
Abstract :
In this report several propulsion systems of air cushion vehicles are introduced, and a state feedback control law for trajectory control of an air cushion vehicle is proposed. We consider that the vehicle should be controlled so that it may not drift sideways for good driving performance. We apply a Lyapunov-like function to develop a nonlinear state feedback control law. Effectiveness of the nonlinear state feedback control law for an ACV model is verified through numerical simulations
Keywords :
Lyapunov methods; aircraft; hovercraft; nonlinear control systems; state feedback; Lyapunov-like function; air cushion vehicle; hovercraft; nonlinear state feedback control; propulsion systems; trajectory control; Control systems; Control theory; Fluid dynamics; Marine vehicles; Numerical simulation; Propellers; Propulsion; State feedback; Vehicle driving; Vehicle dynamics;
Conference_Titel :
Intelligent Robots and Systems '94. 'Advanced Robotic Systems and the Real World', IROS '94. Proceedings of the IEEE/RSJ/GI International Conference on
Conference_Location :
Munich
Print_ISBN :
0-7803-1933-8
DOI :
10.1109/IROS.1994.407600
