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- Title
Adaptive Trajectory Tracking Safety Control of Air Cushion Vehicle with Unknown Input Effective Parameters.
- Authors
Fu, Mingyu; Dong, Lijing; Xu, Yujie; Wang, Chenglong
- Abstract
This paper studies the trajectory tracking control problem of an Air Cushion Vehicle (ACV) with yaw rate error constraint, input effective parameters, model uncertainties and external wind disturbance. Firstly, based on the four-degree of freedom (DOF) vector mathematical mode of ACV, the radial basis function neural network (RBFNN) is adopted to provide the estimation of model uncertainties and external wind disturbance. Then, an adaptive Nussbaum gain-based approach is incorporated with the backstepping control scheme to handle the unknown input efficient parameters. To avoid the complicated derivative of the virtual control laws, the command filter and auxiliary systems are introduced in backstepping. Furthermore, combing a barrier Lyapunov function (BLF) with backstepping technique, a novel trajectory tracking safety controller is designed to ensure all signals of the closed-loop system are uniformly ultimately bounded, while the yaw rate error is within the pre-set safe range. Finally, the simulation results show the effectiveness of the controller scheme.
- Subjects
GROUND-effect machines; TRACKING control systems; ADAPTIVE fuzzy control; AERONAUTICAL safety measures; RADIAL basis functions; LYAPUNOV functions; CLOSED loop systems
- Publication
Applied Sciences (2076-3417), 2020, Vol 10, Issue 16, p5695
- ISSN
2076-3417
- Publication type
Article
- DOI
10.3390/app10165695