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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Autore principale:	García, Deyka (author)
Natura:	article
Lingua:	spagnolo
Pubblicazione:	2016
Soggetti:	controller, hovercraft, Lyapunov, model, movement, nonholonomic, underactuated.
Accesso online:	http://revistas.utp.ac.pa/index.php/id-tecnologico/article/view/23 http://ridda2.utp.ac.pa/handle/123456789/2167
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