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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    Title :

    HGESO-based disturbance rejection path following control for underactuated hovercrafts


    Contributors:


    Publication date :

    2020-10-05


    Size :

    1142912 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English




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