|Adaptive Safety Motion Control for Underactuated Hovercraft Using Improved Integral Barrier Lyapunov Function
Mingyu Fu, Tan Zhang*, and Fuguang Ding
International Journal of Control, Automation, and Systems, vol. 19, no. 8, pp.2784-2796, 2021
Abstract : In this paper, we investigate the problem of safety motion control for an underactuated hovercraft from subject to safety constraint on the states, and model uncertainties. First, a new improved integral barrier Lyapunov function is proposed to constrain the surge speed, it can guarantee the lower limit of the surge speed is above the resistance hump speed in order to prevent loss of course stability. Second, to ensure that the heading remains within the pre-specified safety boundary, a time-varying integral barrier Lyapunov function is introduced to avoid the violation of the constraint. Third, we constrain the yaw angular velocity to the interior of the time-varying safety boundary is related to the surge speed to aim at performing the safety turning under the high speed. To deal with model uncertainties, an adaptive parameter approximation algorithm is designed to estimate it. With the help of Lyapunov’s stability theory, it can be proved that all the tracking errors are uniformly ultimately bounded. Finally, results from some simulation studies verify the effectiveness and universality of the proposed scheme.
Improved integral barrier function, safety motion control, time-varying constraints, underactuated hovercraft.