scholarly journals Safety-Guaranteed Course Control of Air Cushion Vehicle with Dynamic Safe Space Constraint

2018 ◽  
Vol 2018 ◽  
pp. 1-7 ◽  
Author(s):  
Mingyu Fu ◽  
Shuang Gao ◽  
Chenglong Wang
Keyword(s):  
Space Constraint ◽  
Sliding Mode ◽  
Tracking Error ◽  
Safe Space ◽  
Adaptive Mechanism ◽  
Monitoring And Control ◽  
Course Control ◽  
Air Cushion ◽  
Air Cushion Vehicle ◽  
Safety Limit

This paper develops a safety-guaranteed course controller for air cushion vehicle (ACV). As the safety criterion, the unique safety limit of ACV including turn rate (TR) and sideslip angle (SA) changes with the speed when ACV is turning. To be more intuitive to show the change of safety limit and more convenient for safety monitoring and control, dynamic safe space of ACV is proposed. If the work point is within the safe space during the manual operation or automatic control, the sailing of ACV is safe. Then, the safety-guaranteed controller is designed to keep TR and SA within the safe space during the course control process based on the dynamic safe space constraint, terminal sliding mode control, and adaptive mechanism. The adaptive mechanism can effectively estimate the system uncertainty and external disturbances online without the requirement of their upper bounds. The proposed controller guarantees the convergence of tracking error. Simulations are implemented to demonstrate the efficacy of the designed controller.

The Course Control of Air Cushion Vehicle With Uncertainties and Input Saturation

2020 ◽  
Author(s):  
Yuanhui Wang ◽  
Xiyun Jiang ◽  
Mingyu Fu
Keyword(s):  
Dynamic System ◽  
Closed Loop ◽  
Wind Waves ◽  
Radial Basis Function Network ◽  
Input Saturation ◽  
Control Law ◽  
External Disturbances ◽  
Course Control ◽  
Air Cushion ◽  
Air Cushion Vehicle

Abstract In the presence of input saturation and unknown the internal uncertainties, external disturbances, including sea wind, waves and currents, this paper develops a course control law for the system of air cushion vehicle (ACV) using neural network and auxiliary dynamic system to improve the maneuverability and safety. In the design process of the course control law of air cushion vehicle, the two problems of input saturation and uncertainties are considered. On one hand, an effective auxiliary dynamic system is introduced to solve the input saturation problem and reduce its impact on the system. On the other hand, in order to deal with the internal and external disturbances of the system, the fully turned radial basis function network (FTRBFNN) is combined with the control law, and its adaptive ability makes the system compensate better for unknown uncertainties better than RBFNN. The stability of closed-loop system is proved by Lyapunov analysis. It is proved that the designed course control law can maintain ACV’s heading at desired value, while guaranteeing the uniform ultimate boundedness of all signals in the ACV closed-loop control system. Finally, simulations on ACV are carried out to demonstrate the effectiveness of the developed ACV course control law.

Sign in / Sign up

Export Citation Format

Share Document