Robust practical tracking control of an underactuated hovercraft

This paper studies the robust practical tracking control problem of an underactuated hovercraft with unknown external disturbances. Controlling such a system is difficult and challenging due to inherent modeling properties such as underactuated nature and nonholonomic constraint. State transformation technique and cascade method, combined with a transverse function, are used to develop a novel control law that globally practically stabilizes the hovercraft to any smooth reference trajectory, either feasible or non‐feasible. The Lyapunov theory is applied to the analysis of overall closed‐loop stability. Simulation results illustrate the control design.

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