Abstract
A simplified model of the hovercraft system, used in the literatureto illustrate nonlinear control options in underactuated systems,is shown to be differentially flat. The flat outputs are givenby the position coordinates with respect to the fixed earth frame.This fact is here exploited for the design of a dynamic feedbackcontroller for the global asymptotic stabilization of the system'strajectory tracking error with respect to off-line planned positiontrajectories.
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