A Control for tracking and stabilization o fan underactuated non-linear RC hovercraft

Aranda Almansa, Joaquín, Chaos García, Dictino, Dormido Canto, Sebastián, Muñoz Mansilla, Rocío y Díaz Martínez, José Manuel . (2006) A Control for tracking and stabilization o fan underactuated non-linear RC hovercraft. IFAC, MCMC 2006. Lisbon


Título A Control for tracking and stabilization o fan underactuated non-linear RC hovercraft
Autor(es) Aranda Almansa, Joaquín
Chaos García, Dictino
Dormido Canto, Sebastián
Muñoz Mansilla, Rocío
Díaz Martínez, José Manuel
Materia(s) Informática Industrial
Resumen Many marine vehicles are underactuated. An example of this class of vehicles is hovercraft; they present non-holonomic restrictions in its movement. For autonomous ships the two main motion control problems are trajectory tracking and point stabilization. In this work a benchmark problem for tracking trajectory and point stabilization is presented. Besides a controller is developed demonstrating the feasibility of the problem. The controller is evaluated for specifications of performance, robustness and actuator effort, in an interactive assessment environment
Palabras clave marine systems
multivariable non linear control
underactuated systems
Editor(es) INTERNATIONAL FEDERATION OF AUTOMATIC CONTROL
Fecha 2006-01-01
Formato text/html
Identificador AChDcMD2006b
bibliuned:604
Publicado en la Revista IFAC, MCMC 2006. Lisbon
Idioma eng
Versión de la publicación publishedVersion
Tipo de recurso Article
Derechos de acceso y licencia http://creativecommons.org/licenses/by-nc-nd/4.0
info:eu-repo/semantics/openAccess
Tipo de acceso Acceso abierto

 
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Creado: Wed, 14 Nov 2007, 11:38:22 CET