Scholarlink

This paper addresses the target circumnavigation control problem for an underactuated hovercraft. To our knowledge, this problem has not been previously investigated for these platforms. Drawing upon cascaded systems theory, state and dynamic output feedback controllers are systematically developed to ensure global exponential stability of the nominal closed-loop system. The analysis is then extended to address more practical scenarios, proving semi-global exponential stability under input saturation and ensuring the system is practically stable in the presence of external disturbances. The effectiveness of the proposed methods is validated through numerical simulations.

错误：搜索内容不能为空，请输入英文关键词
错误：关键词超出字数限制，请精简
高级检索

Circumnavigation for Underactuated Hovercrafts Using Postion Measurements

  • 会议论文

  • 发表日期：

    2026年

查看全文
  • Yue He,
  • Baoli Ma

摘要

This paper addresses the target circumnavigation control problem for an underactuated hovercraft. To our knowledge, this problem has not been previously investigated for these platforms. Drawing upon cascaded systems theory, state and dynamic output feedback controllers are systematically developed to ensure global exponential stability of the nominal closed-loop system. The analysis is then extended to address more practical scenarios, proving semi-global exponential stability under input saturation and ensuring the system is practically stable in the presence of external disturbances. The effectiveness of the proposed methods is validated through numerical simulations.