Dynamic, Simulation and Control Design of an Unmanned Hovercraft

A simpli!ed model of the hovercraft is used having three degrees of freedom and the control is considered as having two inputs. This paper addresses the control law problem by reformulating the problem in terms of a direct Lyapunov approach whose derivation is performed using the symbolic manipulati...

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Autor principal:	Deyka García
Formato:	article
Lenguaje:	ES
Publicado:	Editorial Universitaria 2016
Materias:	controller hovercraft lyapunov model movement nonholonomic underactuated. Biotechnology TP248.13-248.65
Acceso en línea:	https://doaj.org/article/ac9b463dd8bb47dd9d07666a50164cd4
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id	oai:doaj.org-article:ac9b463dd8bb47dd9d07666a50164cd4
record_format	dspace
spelling	oai:doaj.org-article:ac9b463dd8bb47dd9d07666a50164cd42021-11-16T19:59:28ZDynamic, Simulation and Control Design of an Unmanned Hovercraft1680-88942219-6714https://doaj.org/article/ac9b463dd8bb47dd9d07666a50164cd42016-06-01T00:00:00Zhttps://revistas.utp.ac.pa/index.php/id-tecnologico/article/view/23https://doaj.org/toc/1680-8894https://doaj.org/toc/2219-6714A simpli!ed model of the hovercraft is used having three degrees of freedom and the control is considered as having two inputs. This paper addresses the control law problem by reformulating the problem in terms of a direct Lyapunov approach whose derivation is performed using the symbolic manipulation program Maple. The proposed solution for this controller design formulation uses the control law instead of inverse dynamics to determine the coordinate histories for the unspeci!ed axes, and represents a novel approach for the control of the underactuated system such that the control law could stabilize both the actuated and underactuated axes. Simulation of the model is carried out in the MATLAB/Simulink environment, bringing a new effective method to solve the control problem of the hovercraft, which is a dif!cult system to control because its movement is subjected to nonholonomic constraints.Deyka GarcíaEditorial Universitariaarticlecontrollerhovercraftlyapunovmodelmovementnonholonomicunderactuated.BiotechnologyTP248.13-248.65ESRevista de I + D Tecnológico, Vol 10, Iss 2, Pp 40-47 (2016)
institution	DOAJ
collection	DOAJ
language	ES
topic	controller hovercraft lyapunov model movement nonholonomic underactuated. Biotechnology TP248.13-248.65
spellingShingle	controller hovercraft lyapunov model movement nonholonomic underactuated. Biotechnology TP248.13-248.65 Deyka García Dynamic, Simulation and Control Design of an Unmanned Hovercraft
description	A simpli!ed model of the hovercraft is used having three degrees of freedom and the control is considered as having two inputs. This paper addresses the control law problem by reformulating the problem in terms of a direct Lyapunov approach whose derivation is performed using the symbolic manipulation program Maple. The proposed solution for this controller design formulation uses the control law instead of inverse dynamics to determine the coordinate histories for the unspeci!ed axes, and represents a novel approach for the control of the underactuated system such that the control law could stabilize both the actuated and underactuated axes. Simulation of the model is carried out in the MATLAB/Simulink environment, bringing a new effective method to solve the control problem of the hovercraft, which is a dif!cult system to control because its movement is subjected to nonholonomic constraints.
format	article
author	Deyka García
author_facet	Deyka García
author_sort	Deyka García
title	Dynamic, Simulation and Control Design of an Unmanned Hovercraft
title_short	Dynamic, Simulation and Control Design of an Unmanned Hovercraft
title_full	Dynamic, Simulation and Control Design of an Unmanned Hovercraft
title_fullStr	Dynamic, Simulation and Control Design of an Unmanned Hovercraft
title_full_unstemmed	Dynamic, Simulation and Control Design of an Unmanned Hovercraft
title_sort	dynamic, simulation and control design of an unmanned hovercraft
publisher	Editorial Universitaria
publishDate	2016
url	https://doaj.org/article/ac9b463dd8bb47dd9d07666a50164cd4
work_keys_str_mv	AT deykagarcia dynamicsimulationandcontroldesignofanunmannedhovercraft
_version_	1718426123686117376

Dynamic, Simulation and Control Design of an Unmanned Hovercraft

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