Guidance, navigation, and control of an unmanned hovercraft

Kim, Kil-Soo; Lee, Young-Ki; Oh, Sehwan; Moroniti, David; Mavris, Dimitri N.; Vachtsevanos, George; Papamarkos, Nikos; Georgoulas, George

doi:10.1109/med.2013.6608750

Cited by 7 publications

(4 citation statements)

References 69 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The parameters of the hovercraft adopted for testing are similar to those contained in [21]. They are collected in Table 1.…”

Section: Hovercraft Model and Test Conditionsmentioning

confidence: 99%

“…A Lyapunov-based backstepping technique tracking algorithm was proposed in [9]. A strategy composed of the line-of-sight guidance law with a neural network-based adaptive dynamic inversion for the underactuated hovercraft following a prescribed path was found in [21]. The solution to the tracking control problem with simultaneous parameter identification was given in [22].…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Controller for an Asymmetric Underactuated Hovercraft in Terms of Quasi-Velocities

Herman

2023

Applied Sciences

View full text Add to dashboard Cite

In this paper, a nonlinear controller for tracking a desired trajectory for an underactuated hovercraft is considered. It is a modification of a method known from the literature. However, the control algorithm considered here has two important features that differ from the mentioned control strategy. First, it concerns the case when the center of mass does not coincide with the geometric center, which results in additional forces and moments of force. The lack of symmetry causes the original trajectory tracking method not to take this fact into account, while the proposed approach is a generalization of the known concept. Here, a diagonalization of the inertia matrix has been applied, by means of a velocity transformation, which made it possible to reduce the symmetric matrix to a diagonal form. Secondly, the transformed quasi-velocity equations of motion allow some insight into the dynamics of the vehicle as it moves, which was not shown in the source work. The offered approach was verified by numerical tests for a hovercraft model with three DOF and for two desired trajectories. The method can be useful in preliminary simulation studies at the controller selection stage without experimental validation.

show abstract

“…The parameters of the hovercraft adopted for testing are similar to those contained in [21]. They are collected in Table 1.…”

Section: Hovercraft Model and Test Conditionsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Controller for an Asymmetric Underactuated Hovercraft in Terms of Quasi-Velocities

Herman

2023

Applied Sciences

View full text Add to dashboard Cite

show abstract

“…The proposed design methodology of the middle-level reconfigurable control has potentials to cyber physical systems, which entail software and hardware integration, in that the reconfiguration manages software components. To demonstrate its efficacy, an autonomously operable underactuated hovercraft was used as a testbed (Kim et al, 2013;Sconyers et al, 2013). The hovercraft dynamics model was derived on the basis of a ground-fixed coordinate system, as depicted in the right side of Figure 4.…”

Section: The Experimental Configurationmentioning

confidence: 99%

“…A nominal-phase GNC module consists of the line-of-sight (LOS) guidance law and the dynamic inversion nonlinear controller addressed by Kim et al (2013). The LOS guidance law forces the system to reduce the errors in the heading angle and the shortest distance between the current position and a trajectory path, at each control time instant.…”

Section: Nominal Gncmentioning

confidence: 99%

Resilient-based Control Reconfiguration of Autonomous Systems

Oh,

Lee,

Balchanos

et al. 2017

PHMAP_CONF

View full text Add to dashboard Cite

This paper introduces a design methodology for resilientbasedcontrol reconfiguration of Unmanned AutonomousSystems (UAS) when extreme disturbances, such as a largelygrowing fault or component failure mode occur. It isdocumented that more than 40% of Class air mishaps areattributed to Unmanned Aerial Vehicles (UAVs). There is anurgent need to improve the operational integrity, resilienceand reliability of such critical assets. An optimal controlapproach with Differential Dynamic Programming (DDP)and Model Predictive Control (MPC) is introduced in thispaper as a means for control authority redistribution andreconfiguration; therefore, the system continues performingits mission while compensating for the impact of the extremedisturbances. Prognostic knowledge is considered in aquadratic cost function of the optimal control problem as asoft constraint. A trade-off parameter is introduced betweenthe prognostic constraint and the terminal cost. Anautonomous ground operable under-actuated hovercraft isused to demonstrate the efficacy of the proposedreconfiguration strategy, and it is extendable to other cyberphysical systems.

show abstract

Introduction

Herman

2022

Springer Tracts in Mechanical Engineering

View full text Add to dashboard Cite

Guidance, navigation, and control of an unmanned hovercraft

Cited by 7 publications

References 69 publications

Controller for an Asymmetric Underactuated Hovercraft in Terms of Quasi-Velocities

Controller for an Asymmetric Underactuated Hovercraft in Terms of Quasi-Velocities

Resilient-based Control Reconfiguration of Autonomous Systems

Introduction

Contact Info

Product

Resources

About