Way-point tracking control for air cushion vehicle

A way-point tracking control strategy which contains switching speed and radius that consider the safe bound of heeling angle and rotation rate during the rotation is designed in view of the requirements of air cushion vehicle (ACV) track control. Firstly, the four-degree-of-freedom mathematical motion model of ACV is established. Secondly, active disturbance rejection control (ADRC) controller whose parameters are tuned by genetic algorithm (GA) is designed to guidance ACV sailing along the tracking route. Thirdly, the switching strategy which calculates the expected switching radius and rotation speed of ACV by functions is designed. Finally, a series of simulation experiments are carried out with winds as feed forward interference in view of ACV being affected by the environment easily. The simulation results verify the effectiveness of the algorithm. It also shows that the GA-ADRC controller has better control effect than traditional ADRC controller.