Research on the Course and Turn-rate Coordinated Control for an Air Cushion Vehicle

Author

Fu, Mingyu ; Ding, Fuguang ; Shi, Xiaocheng

Author_Institution

Harbin Eng. Univ., Harbin

fYear

2007

fDate

5-8 Aug. 2007

Firstpage

2424

Lastpage

2428

Abstract

The characteristics of the air cushion vehicle (ACV) show that the ACV is easy to be Broaching-to (the craft suddenly and unintentionally thrown or cause to turn, broadside to its original direction of motion). If the turning-rate is not to be controlled during ACV in the course keeping, the turning-rate and slide-angle will reach the warning or danger value that maybe led the ACV to be broaching-to or turndown. In this paper, the course and turning-rate control methods based on nonlinear back-stepping control theory are researched, and the coordinated control strategies are given. Control method and coordinated control strategy are used in the real-time ACV automatic control system. The results of the simulation show that the control method and coordinated control strategy are very effective and make the ACV moved more gently and stability and sail much more safely.

Keywords

boats; nonlinear control systems; position control; stability; air cushion vehicle; automatic control system; course control; course coordinated control; nonlinear back-stepping control; stability; turn-rate coordinated control; turning-rate control; Automatic control; Backstepping; Control systems; Control theory; Force control; Nonlinear control systems; Stability; Turning; Vehicles; Velocity control; Air Cushion Vehicle; Backstepping Theory; Coordinated Control; Course Control; Turn-rate Control;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation, 2007. ICMA 2007. International Conference on

Conference_Location

Harbin

Print_ISBN

978-1-4244-0828-3

Electronic_ISBN

978-1-4244-0828-3

Type

conf

DOI

10.1109/ICMA.2007.4303935

Filename

4303935