HGESO-based disturbance rejection path following control for underactuated hovercrafts

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	HGESO-based disturbance rejection path following control for underactuated hovercrafts
	Tong, Haiyan 2; Wang YH(王元慧)2; Ren, Hongliang 1; Gao TZ(郜天柱)3; Ding, Fuguang 2; Wang CL(王成龙)2
	2020
会议日期	October 5-30, 2020
会议地点	Biloxi, MS, United states
关键词	underactuated hovercrafts path following high gain extended state observer unknown uncertainties disturbance rejection
页码	1-5
英文摘要	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
产权排序	3
会议录	2020 Global Oceans 2020: Singapore - U.S. Gulf Coast
会议录出版者	IEEE
会议录出版地	New York
语种	英语
ISBN号	978-1-7281-5446-6
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/28751]
专题	沈阳自动化研究所_海洋信息技术装备中心
通讯作者	Tong, Haiyan
作者单位	1.Biomedical Engineering, National University of Singapore, Singapore, Singapore 2.College of Automation, Harbin Engineering University, Harbin, China 3.(Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
推荐引用方式 GB/T 7714	Tong, Haiyan,Wang YH,Ren, Hongliang,et al. HGESO-based disturbance rejection path following control for underactuated hovercrafts[C]. 见:. Biloxi, MS, United states. October 5-30, 2020.