Amphibious hovercraft course control based on support vector machines adaptive PID

Abstract

Amphibious hovercraft is very different from conventional surface ships. Its mathematical model perturbs erratically as the change of sailing status and environment. For the nonlinear characteristic, adaptive PID controller based on support vector machines (SVM) is applied in the course control. The SVM is used to identify the system information, which is then linearized to extract the instantaneous linear model. The parameters of PID are turned based on the linear model. The simulation results in harsh environment show that the controller designed achieves high dynamic and steady performances, which brings a new effective method to solve the problem of hovercraft course control.