Control scheme for waypoint navigation of an underactuated hovercraft.
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| Title: | Control scheme for waypoint navigation of an underactuated hovercraft. |
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| Authors: | Almazan-Arvizu, Ricardo Y.1 (AUTHOR), Lozano-Hernández, Yair2,3 (AUTHOR) ylozanoh@ipn.mx, Gutiérrez-Frías, Octavio1 (AUTHOR), Palomino-Resendiz, Sergio I.4 (AUTHOR), Montelongo-Vazquez, Carlos M.4 (AUTHOR) |
| Source: | Cogent Engineering. Dec2025, Vol. 12 Issue 1, p1-31. 31p. |
| Subject Terms: | *NAVIGATION, *BACKSTEPPING control method, *FEEDFORWARD control systems, *TRAJECTORY optimization, *SPLINE theory, *DEGREES of freedom |
| Abstract: | This article presents a control scheme for navigation by waypoints given in the X–Y plane for an underactuated hovercraft, which has three Degrees of Freedom and two control inputs. The control scheme is made up of three feedforward Backstepping Controllers (BC); two act directly on the actuated coordinates, while the third corresponds to an auxiliary control that is responsible for manipulating the orientation angle (actuated coordinate) based on the error of the Y axis (underactuated coordinate), allowing the tracking of desired reference points in the X–Y plane. The proposed scheme is numerically validated for different cases that involve trajectory tracking through different waypoints. Additionally, the displacement from one reference point to another is carried out by tracking a Bezier polynomial trajectory, which guarantees a smooth transition from one waypoint to another; therefore, to controlling the time in which the vehicle reaches the reference value. Finally, a comparison of the proposed scheme with respect to the use of Feedforward PID Controllers (FFPC) is presented. [ABSTRACT FROM AUTHOR] |
| Database: | Academic Search Index |
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