Barrier Lyapunov Function-Based Adaptive Control of an Uncertain Hovercraft with Position and Velocity Constraints

Mingyu Fu,Taiqi Wang,Chenglong Wang

doi:10.1155/2019/1940784

Abstract

This paper considers the problem of constrained path following control for an underactuated hovercraft subject to parametric uncertainties and external disturbances. A four-degree-of-freedom hovercraft model with unknown curve-fitted coefficients is first rewritten into a parameterized form. By introducing a barrier Lyapunov function into the line-of-sight guidance, the specific transient tracking performance in terms of position error is guaranteed. A novel constrained yaw rate controller is proposed to ensure time-varying yaw rate constraint satisfaction, in which the yaw rate barrier is required to vary with the speed of the hovercraft. Moreover, a command filter is incorporated into the control design to generate the desired virtual controls and its time derivatives. Theoretical analyses show that, under the proposed controller, the position tracking error constraints and the yaw rate constraint can be strictly guaranteed. Finally, numerical simulations illustrate the effectiveness and advantages of the proposed control scheme.

Highlights

As a high-performance amphibious marine craft, a hovercraft utilizes a flexible skirt system around its periphery such that the hull is totally supported by a pressurized air cushion
Due to its complex wave-making resistance and skirt drag caused by the cushion system, the dynamics of a hovercraft are very uncertain, nonlinear, and coupled [2]
Motivated by the above considerations, a barrier Lyapunov function (BLF)-based adaptive path following control scheme is developed for a 4DOF underactuated hovercraft subject to parametric uncertainties and external disturbances

Summary

Introduction

As a high-performance amphibious marine craft, a hovercraft utilizes a flexible skirt system around its periphery such that the hull is totally supported by a pressurized air cushion. To improve the tracking performance of a hovercraft under these system uncertainties, the above 4-DOF hovercraft dynamics [1] are rewritten into a parameterized form in this paper, and the adaptive control method is adopted to estimate the uncertain parameters and external disturbances. To the author’s knowledge, the problem of tracking error-constrained path following control for an uncertain hovercraft with a time-varying yaw rate constraint has rarely been considered. In [45], the authors utilized the tan-type BLF to design an error-constrained LOS path following controller for a 3-DOF conventional surface vessel. Motivated by the above considerations, a BLF-based adaptive path following control scheme is developed for a 4DOF underactuated hovercraft subject to parametric uncertainties and external disturbances. R yaw zb Figure 1: The hovercraft model in the body-fixed frame

Preliminaries

Control System Design

Stability Analysis

Simulation

30 Constraint is violated

Conclusion