TY - JOUR
T1 - On the control of the hovercraft system
AU - Sira-Ramírez, Hebertt
AU - Ibáñez, Carlos Aguilar
N1 - Funding Information:
This research was supported by the Centro de Investigación y Estudios Avanzados del Instituto Politécnico Nacional (CINVESTAV-IPN), México, by the Instituto Politécnico Nacional and by the Consejo Nacional de Ciencia y Tecnología of México (CONACYT) under Research Grant 32681-A.
PY - 2000/4
Y1 - 2000/4
N2 - A simplified model of the hovercraft system, used in the literature to illustrate nonlinear control options in underactuated systems, is shown to be differentially flat. The flat outputs are given by the position coordinates with respect to the fixed earth frame. This fact is here exploited for the design of a dynamic feedback controller for the global asymptotic stabilization of the system's trajectory tracking error with respect to off-line planned position trajectories.
AB - A simplified model of the hovercraft system, used in the literature to illustrate nonlinear control options in underactuated systems, is shown to be differentially flat. The flat outputs are given by the position coordinates with respect to the fixed earth frame. This fact is here exploited for the design of a dynamic feedback controller for the global asymptotic stabilization of the system's trajectory tracking error with respect to off-line planned position trajectories.
UR - http://www.scopus.com/inward/record.url?scp=0343826856&partnerID=8YFLogxK
U2 - 10.1023/A:1008343807817
DO - 10.1023/A:1008343807817
M3 - Artículo
SN - 0925-4668
VL - 10
SP - 151
EP - 163
JO - Dynamics and Control
JF - Dynamics and Control
IS - 2
ER -