NESO-Based Path Following Control for Underactuated Hovercrafts with Unknown Nonlinear Uncertainties and a Safety Limit Constraint

• Published in: Applied sciences Vol. 10; no. 15; p. 5287
• Main Authors: Wang, Yuanhui, Tong, Haiyan, Ren, Hongliang
• Format: Journal Article
• Language: English
• Published: MDPI AG 01.08.2020
• Subjects: backstepping sliding mode control; homogenous nonlinear extended state observer; nonlinear time-varying uncertainties; turning safety limit constraint; underactuated hovercrafts

In this brief, the path following control problem of underactuated hovercrafts subject to nonlinear time-varying uncertainties and a safety limit constraint (SLC) is addressed. A novel homogenous nonlinear extended state observer (NESO)-based safe motion controller for a path following control scena...