Eventos Anais de eventos
DINAME 2017
XVII International Symposium on Dynamic Problems of Mechanics
SDRE TRAJECTORY TRACKING CONTROL FOR A HOVERCRAFT AUTONOMOUS VEHICLE
Submission Author:
Ana Paula Pagotti , SP
Co-Authors:
Ana Paula Pagotti, Elvira Rafikova, Marat Rafikov
Presenter: Ana Paula Pagotti
doi://10.26678/ABCM.DINAME2017.DIN17-0161
Abstract
A Hovercraft is an amphibious vehicle lifted by a propeller inside its hull that causes the effect of an air cushion. This effect leads it to avoid contact with land or water surfaces, being a very versatile vehicle to be used in different kinds of tasks such as rescues, environmental monitoring and coast guard patrolling. This paper presents how the control problem is formulated in order to track a reference trajectory of a Hovercraft dynamical model. For this purpose the SDRE (State Dependent Riccati Equation) control method is applied to a system of equations that model this dynamical system. The system is then rewritten in error space-state dependent form. Then the nonlinear control problem is formulated in order to minimize the cost functional. Numerical simulation are performed using Matlab® , so that, the equations of the error space-state form, dynamical model of the vehicle and the reference are integrated to generate data about the position, orientation and velocities of the Hovercraft. The simulations provide visualization the behavior of the dynamical system during a determined interval of time, including the trajectory tracking of the vehicle. The results show that the control method succeeded in controlling the Hovercraft in all proposed cases.
Keywords
Hovercraft autonomous vehicle, State-dependent Riccati equation, Nonlinear control, Trajectory Tracking Control, Error space-state form
