Dynamic, Simulation and Control Design of an Unmanned Hovercraft
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ISSN: 1680-8894
E-ISSN: 2219-6714
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Artículos
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Enviado:
Jun 28, 2016
Publicado: Jun 28, 2016
Publicado: Jun 28, 2016
Resumen
A simpli!ed model of the hovercraft is used having three degrees of freedom and the control is considered as having two inputs. This paper addresses the control law problem by reformulating the problem in terms of a direct Lyapunov approach whose derivation is performed using the symbolic manipulation program Maple. The proposed solution for this controller design formulation uses the control law instead of inverse dynamics to determine the coordinate histories for the unspeci!ed axes, and represents a novel approach for the control of the underactuated system such that the control law could stabilize both the actuated and underactuated axes. Simulation of the model is carried out in the MATLAB/Simulink environment, bringing a new effective method to solve the control problem of the hovercraft, which is a dif!cult system to control because its movement is subjected to nonholonomic constraints.
Palabras clave
controller, hovercraft, Lyapunov, model, movement, nonholonomic, underactuated.Descargas
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Cómo citar
García, D. (2016). Dynamic, Simulation and Control Design of an Unmanned Hovercraft. I+D Tecnológico, 10(2), 40-47. Recuperado a partir de https://revistas.utp.ac.pa/index.php/id-tecnologico/article/view/23
Citas
(1) Rashid, Aras., Kassim, Ibrahim, Jamali. Dynamic MathematicalModeling and Simulation Study of Small Scale Autonomous Hovercraft International Journal of Advanced Science and Technology, Vol. 46, September, 2012
(2) Kulis, Z. (2006), "Feedback Control of a Hovercraft over a Wireless Link". MSc dissertation, University of Maryland, College Park, Maryland, Department of Electrical and Computer Engineering.
(3) C. I. Bymes and A. Isidori. On the attitude stabilization of rigid spacecraft. Automatica, 27(1):87-95, 1991.}
(4) A. L. Marconett, "A Study and Implementation of an Autonomous Control System for a Vehicle in the Zero Drag Environment of Space", University Of California Davis, (2003).
(5) Aguiar, A. P., & Pascoal, A. M. 2001. Regulation of a Nonholonomic Autonomous Underwater Vehicle with Parametric Modeling Uncertainty using Lyapunov Functions. 40th IEEE Conference on Decision and Control, Orlando.
(6) Fantoni, I., Lozano, R., Mazenc, F., Pettersen, K. Y., 2000. Stabilization of a nonlinear underactuated hovercraft. International Joumal of Robust and Nonlinear Control 10 (8), 645-654.
(7) Fantoni, I " Non-Linear control for Underactuated Mechanical System", Springer-Verlag London, (2002), ch. 2.
(8) Sanders, R. M. W. "Control of a Model Sized Hovercraft". The University of New South Wales Australia. (2003).
(9) W. Cheng-long, L. Zhen-ye, E Ming-yu and B. Xin-pian, "Amphibious Hovercraft Course Control Based Adaptive Multiple Model Approach", presented at International Conference on Mechatronics and Automation, (2010).
(10) H. Lindsey, "Hovercraft Kinematic Modelling", Center of Applied Mathematics University of St. Thomas, (2005).
(11) White, Warren N., Mikil Foss, Jaspen Patenaude, Xin Guo, and Deyka García, Improvements in Direct Lyapunov Stabilization of Underactuated, Mechanical Systems, Proceedings of the 2008 American Control Conference, Seattle, WA, June 11 - 13, pp. 2927 - 2932.
(12) White, W. N., Foss, M., & Xin Guo. (2006). A direct lyapunov approach for a class of underactuated mechanical systems. American Control Conference, 2006, pp. 8 pp.
(13) White, W. N., Foss, M., & Xin Guo. (2007). A direct lyapunov approach for stabilization of underactuated mechanical systems. American Control Conference, 2007. ACC '07, pp. 4817-4822.
(14) Khalil, H. K., 2002. Nonlinear systems, 3rd Edition. Prentice Hall, ch. 13.
(15) Garcia, D. (2012) "Solvability of the Direct Llyapunov First Matching Condition in Terms of the Generalized Coordinates". PhD dissertation, Manhattan, KS, Kansas State University, Department of Mechanical and Nuclear Engineering.
(16) Sira-Ramirez, H., nov 2002. Dynamic second-order sliding mode control of the hovercraft vessel. Control Systems Technology, IEEE Transactions on 10 (6), 860- 865. DOI: 10.1109/TCST.2002.804134.
(17) Sira-Rami rez, H., Ibanez, C., 2000. The control of the hovercraft system: a flatness based approach. In: Control Applications, 2000.
(18) Proceedings of the 2000 IEEE International Conference on. pp. 692 -697. DOI: 10.1109/CCA.2000.897513
(19) Sira-Ramirez H., I. C., 2000. On the control of the hovercraft system. Dynamics and Control 10, 151-163.
(20) Fantoni, I., Lozano, R., Mazenc, K., Pettersen Y., IEEE Transaction on Decision & Control, 1999: pp 2533 - 2538 vol.3 Ogata, K. (1998). Modem control engineering. (3rd ed.). Englewood Cliffs, N.J.: Prentice-Hall, ch. 15.
(21) Olfati-Saber, R. 2001. Nonlinear Control of Underactuated Mechanical Systems with Application to Robotics and Aerospace Vehides. MIT.
(22) Slotine, J. E., & Li, W. (1991). Applied nonlinear control Prentice
Hall, ch. 3.
(2) Kulis, Z. (2006), "Feedback Control of a Hovercraft over a Wireless Link". MSc dissertation, University of Maryland, College Park, Maryland, Department of Electrical and Computer Engineering.
(3) C. I. Bymes and A. Isidori. On the attitude stabilization of rigid spacecraft. Automatica, 27(1):87-95, 1991.}
(4) A. L. Marconett, "A Study and Implementation of an Autonomous Control System for a Vehicle in the Zero Drag Environment of Space", University Of California Davis, (2003).
(5) Aguiar, A. P., & Pascoal, A. M. 2001. Regulation of a Nonholonomic Autonomous Underwater Vehicle with Parametric Modeling Uncertainty using Lyapunov Functions. 40th IEEE Conference on Decision and Control, Orlando.
(6) Fantoni, I., Lozano, R., Mazenc, F., Pettersen, K. Y., 2000. Stabilization of a nonlinear underactuated hovercraft. International Joumal of Robust and Nonlinear Control 10 (8), 645-654.
(7) Fantoni, I " Non-Linear control for Underactuated Mechanical System", Springer-Verlag London, (2002), ch. 2.
(8) Sanders, R. M. W. "Control of a Model Sized Hovercraft". The University of New South Wales Australia. (2003).
(9) W. Cheng-long, L. Zhen-ye, E Ming-yu and B. Xin-pian, "Amphibious Hovercraft Course Control Based Adaptive Multiple Model Approach", presented at International Conference on Mechatronics and Automation, (2010).
(10) H. Lindsey, "Hovercraft Kinematic Modelling", Center of Applied Mathematics University of St. Thomas, (2005).
(11) White, Warren N., Mikil Foss, Jaspen Patenaude, Xin Guo, and Deyka García, Improvements in Direct Lyapunov Stabilization of Underactuated, Mechanical Systems, Proceedings of the 2008 American Control Conference, Seattle, WA, June 11 - 13, pp. 2927 - 2932.
(12) White, W. N., Foss, M., & Xin Guo. (2006). A direct lyapunov approach for a class of underactuated mechanical systems. American Control Conference, 2006, pp. 8 pp.
(13) White, W. N., Foss, M., & Xin Guo. (2007). A direct lyapunov approach for stabilization of underactuated mechanical systems. American Control Conference, 2007. ACC '07, pp. 4817-4822.
(14) Khalil, H. K., 2002. Nonlinear systems, 3rd Edition. Prentice Hall, ch. 13.
(15) Garcia, D. (2012) "Solvability of the Direct Llyapunov First Matching Condition in Terms of the Generalized Coordinates". PhD dissertation, Manhattan, KS, Kansas State University, Department of Mechanical and Nuclear Engineering.
(16) Sira-Ramirez, H., nov 2002. Dynamic second-order sliding mode control of the hovercraft vessel. Control Systems Technology, IEEE Transactions on 10 (6), 860- 865. DOI: 10.1109/TCST.2002.804134.
(17) Sira-Rami rez, H., Ibanez, C., 2000. The control of the hovercraft system: a flatness based approach. In: Control Applications, 2000.
(18) Proceedings of the 2000 IEEE International Conference on. pp. 692 -697. DOI: 10.1109/CCA.2000.897513
(19) Sira-Ramirez H., I. C., 2000. On the control of the hovercraft system. Dynamics and Control 10, 151-163.
(20) Fantoni, I., Lozano, R., Mazenc, K., Pettersen Y., IEEE Transaction on Decision & Control, 1999: pp 2533 - 2538 vol.3 Ogata, K. (1998). Modem control engineering. (3rd ed.). Englewood Cliffs, N.J.: Prentice-Hall, ch. 15.
(21) Olfati-Saber, R. 2001. Nonlinear Control of Underactuated Mechanical Systems with Application to Robotics and Aerospace Vehides. MIT.
(22) Slotine, J. E., & Li, W. (1991). Applied nonlinear control Prentice
Hall, ch. 3.