Safety-Guaranteed Trajectory Tracking Control for the Underactuated Hovercraft with State and Input Constraints

This paper develops a safety-guaranteed trajectory tracking controller for hovercraft by using a safety-guaranteed auxiliary dynamic system, an integral sliding mode control, and an adaptive neural network method. The safety-guaranteed auxiliary dynamic system is designed to implement system state a...

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Veröffentlicht in:	Mathematical problems in engineering 2017-01, Vol.2017 (2017), p.1-12
Hauptverfasser:	Fu, Mingyu, Wang, Chenglong, Gao, Shuang
Format:	Artikel
Sprache:	eng
Schlagworte:	Adaptive control Automation Basis functions Computer simulation Constraints Dynamical systems Ground effect machines Maneuvers Mathematical models Neural networks Ocean engineering Safety Sliding mode control Tracking control Tracking errors Trajectory control Vehicles Velocity
Online-Zugang:	Volltext
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