气垫飞行器的轨迹控制

Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94) Pub Date : 1994-09-12 DOI:10.1109/IROS.1994.407600

R. Hayashi, K. Osuka, T. Ono

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引用次数: 9

摘要

本文介绍了气垫飞行器的几种推进系统，提出了气垫飞行器轨道控制的状态反馈控制律。我们认为，为了获得良好的驾驶性能，应该控制车辆，使其不会向侧面漂移。应用类李雅普诺夫函数建立非线性状态反馈控制律。通过数值仿真验证了非线性状态反馈控制律对ACV模型的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Trajectory control of an air cushion vehicle

In this report several propulsion systems of air cushion vehicles are introduced, and a state feedback control law for trajectory control of an air cushion vehicle is proposed. We consider that the vehicle should be controlled so that it may not drift sideways for good driving performance. We apply a Lyapunov-like function to develop a nonlinear state feedback control law. Effectiveness of the nonlinear state feedback control law for an ACV model is verified through numerical simulations.<>

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Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)

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