In this brief, a high gain extended observer (HGESO) based disturbance rejection yaw control law is proposed for path following of underactuated hovercrafts in the presence of unknown nonlinear time-varying uncertainties. First, a HGESO is first proposed to estimate the unknown nonlinear time-varying uncertainties for the underactuated hovercraft heading subsystem. Then, a HGESO-based backstepping yaw control law is designed to achieve the disturbance rejection yaw control for underactuated hovercrafts. Furthermore, the stability of the proposed control method is proven by the input-state-stability theory. Finally, a simulation case study of an underactuated hovercraft is made to support the proposed control law


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    Titel :

    HGESO-based disturbance rejection path following control for underactuated hovercrafts


    Beteiligte:
    Tong, Haiyan (Autor:in) / Wang, Yuanhui (Autor:in) / Ren, Hongliang (Autor:in) / Gao, Tianzhu (Autor:in) / Ding, Fuguang (Autor:in) / Wang, Chenglong (Autor:in)


    Erscheinungsdatum :

    05.10.2020


    Format / Umfang :

    1142912 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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