NESO-Based Path Following Control for Underactuated Hovercrafts with Unknown Nonlinear Uncertainties and a Safety Limit Constraint

In this brief, the path following control problem of underactuated hovercrafts subject to nonlinear time-varying uncertainties and a safety limit constraint (SLC) is addressed. A novel homogenous nonlinear extended state observer (NESO)-based safe motion controller for a path following control scena...

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Bibliographic Details

Published in:	Applied Sciences
Main Authors:	Yuanhui Wang, Haiyan Tong, Hongliang Ren
Format:	Article
Language:	English
Published:	MDPI AG 2020-07-01
Subjects:	underactuated hovercrafts nonlinear time-varying uncertainties turning safety limit constraint homogenous nonlinear extended state observer backstepping sliding mode control
Online Access:	https://www.mdpi.com/2076-3417/10/15/5287