Dynamic, Simulation and Control Design of an Unmanned Hovercraft
A simpli!ed model of the hovercraft is used having three degrees of freedom and the control is considered as having two inputs. This paper addresses the control law problem by reformulating the problem in terms of a direct Lyapunov approach whose derivation is performed using the symbolic manipulati...
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| Định dạng: | article |
| Ngôn ngữ: | Tiếng Tây Ban Nha |
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2016
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| Những chủ đề: | |
| Truy cập trực tuyến: | http://revistas.utp.ac.pa/index.php/id-tecnologico/article/view/23 http://ridda2.utp.ac.pa/handle/123456789/2167 |
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| _version_ | 1869652455269072896 |
|---|---|
| author | García, Deyka |
| author_browse | García, Deyka |
| author_facet | García, Deyka |
| author_role | author |
| collection | Repositorio Institucional de documento digitales de acceso abierto de la UTP |
| dc.contributor.none.fl_str_mv | |
| dc.creator.none.fl_str_mv | García, Deyka |
| dc.date.none.fl_str_mv | 2016-06-28 2017-07-28T17:47:50Z 2017-07-28T17:47:50Z |
| dc.format.none.fl_str_mv | application/pdf text/html |
| dc.identifier.none.fl_str_mv | http://revistas.utp.ac.pa/index.php/id-tecnologico/article/view/23 http://ridda2.utp.ac.pa/handle/123456789/2167 |
| dc.language.none.fl_str_mv | spa |
| dc.publisher.none.fl_str_mv | Universidad Tecnológica de Panamá |
| dc.relation.none.fl_str_mv | http://revistas.utp.ac.pa/index.php/id-tecnologico/article/view/23/pdf http://revistas.utp.ac.pa/index.php/id-tecnologico/article/view/23/html |
| dc.rights.none.fl_str_mv | info:eu-repo/semantics/openAccess https://creativecommons.org/licenses/by-nc-sa/4.0/ |
| dc.source.none.fl_str_mv | 2219-6714 1680-8894 I+D Tecnológico; Vol. 10, Núm. 2 (2014): Revista I+D Tecnológico; 40-47 reponame:Repositorio Institucional de documento digitales de acceso abierto de la UTP instname:Universidad Tecnológica de Panamá instacron:U Tecnológica de Panamá |
| dc.subject.none.fl_str_mv | controller, hovercraft, Lyapunov, model, movement, nonholonomic, underactuated. |
| dc.title.none.fl_str_mv | Dynamic, Simulation and Control Design of an Unmanned Hovercraft |
| dc.type.none.fl_str_mv | info:eu-repo/semantics/article info:eu-repo/semantics/publishedVersion |
| description | A simpli!ed model of the hovercraft is used having three degrees of freedom and the control is considered as having two inputs. This paper addresses the control law problem by reformulating the problem in terms of a direct Lyapunov approach whose derivation is performed using the symbolic manipulation program Maple. The proposed solution for this controller design formulation uses the control law instead of inverse dynamics to determine the coordinate histories for the unspeci!ed axes, and represents a novel approach for the control of the underactuated system such that the control law could stabilize both the actuated and underactuated axes. Simulation of the model is carried out in the MATLAB/Simulink environment, bringing a new effective method to solve the control problem of the hovercraft, which is a dif!cult system to control because its movement is subjected to nonholonomic constraints. |
| eu_rights_str_mv | openAccess |
| format | article |
| id | lrtest_0ec899d09ecd02154784d17f5931be1f |
| instacron_str | U Tecnológica de Panamá |
| institution | U Tecnológica de Panamá |
| instname_str | Universidad Tecnológica de Panamá |
| language | spa |
| network_acronym_str | lrtest |
| network_name_str | lr |
| oai_identifier_str | oai:ridda2.utp.ac.pa:123456789/2167 |
| publishDate | 2016 |
| publishDateSort | 2016 |
| publisher.none.fl_str_mv | Universidad Tecnológica de Panamá |
| reponame_str | Repositorio Institucional de documento digitales de acceso abierto de la UTP |
| repository.mail.fl_str_mv | |
| repository.name.fl_str_mv | |
| repository_id_str | |
| rights_invalid_str_mv | https://creativecommons.org/licenses/by-nc-sa/4.0/ |
| spelling | Dynamic, Simulation and Control Design of an Unmanned HovercraftGarcía, Deykacontroller, hovercraft, Lyapunov, model, movement, nonholonomic, underactuated.A simpli!ed model of the hovercraft is used having three degrees of freedom and the control is considered as having two inputs. This paper addresses the control law problem by reformulating the problem in terms of a direct Lyapunov approach whose derivation is performed using the symbolic manipulation program Maple. The proposed solution for this controller design formulation uses the control law instead of inverse dynamics to determine the coordinate histories for the unspeci!ed axes, and represents a novel approach for the control of the underactuated system such that the control law could stabilize both the actuated and underactuated axes. Simulation of the model is carried out in the MATLAB/Simulink environment, bringing a new effective method to solve the control problem of the hovercraft, which is a dif!cult system to control because its movement is subjected to nonholonomic constraints.Universidad Tecnológica de Panamá2016-06-282017-07-28T17:47:50Z2017-07-28T17:47:50Zinfo:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionapplication/pdftext/htmlhttp://revistas.utp.ac.pa/index.php/id-tecnologico/article/view/23http://ridda2.utp.ac.pa/handle/123456789/21672219-67141680-8894I+D Tecnológico; Vol. 10, Núm. 2 (2014): Revista I+D Tecnológico; 40-47reponame:Repositorio Institucional de documento digitales de acceso abierto de la UTPinstname:Universidad Tecnológica de Panamáinstacron:U Tecnológica de Panamáspahttp://revistas.utp.ac.pa/index.php/id-tecnologico/article/view/23/pdfhttp://revistas.utp.ac.pa/index.php/id-tecnologico/article/view/23/htmlinfo:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by-nc-sa/4.0/oai:ridda2.utp.ac.pa:123456789/21672019-12-06T14:50:23Z |
| spellingShingle | Dynamic, Simulation and Control Design of an Unmanned Hovercraft García, Deyka controller, hovercraft, Lyapunov, model, movement, nonholonomic, underactuated. |
| status_str | publishedVersion |
| title | Dynamic, Simulation and Control Design of an Unmanned Hovercraft |
| title_full | Dynamic, Simulation and Control Design of an Unmanned Hovercraft |
| title_fullStr | Dynamic, Simulation and Control Design of an Unmanned Hovercraft |
| title_full_unstemmed | Dynamic, Simulation and Control Design of an Unmanned Hovercraft |
| title_short | Dynamic, Simulation and Control Design of an Unmanned Hovercraft |
| title_sort | Dynamic, Simulation and Control Design of an Unmanned Hovercraft |
| topic | controller, hovercraft, Lyapunov, model, movement, nonholonomic, underactuated. |
| url | http://revistas.utp.ac.pa/index.php/id-tecnologico/article/view/23 http://ridda2.utp.ac.pa/handle/123456789/2167 |