On account of the external disturbances and difficult maneuverability a hovercraft, this paper devises safety-guaranteed, robust, nonlinear, path-following control strategy hovercraft targeted for unknown dynamics, unavailable velocity, ocean disturbances. Firstly, sake accurately observing lumped velocity measurements, finite-time extended state observer (FTESO) is proposed. Secondly, line-of-...

This letter addresses the problem of steering a robotic vehicle along geometric path specified with respect to reference frame moving in three dimensions, termed Moving Path Following (MPF) motion control problem. The MPF is solved for large class vehicles that require minimum positive forward speed operate. restriction poses additional challenges design, and developed using concepts, wherein a...

This paper focuses on the accurate path following problem for an underactuated unmanned surface vehicle with uncertainties and environment disturbances. The proposed scheme can be divided into guidance loop control loop: in loop, law is utilized to calculate desired yaw angle, as well estimating unknown currents sideslip angle simultaneously; a novel robust developed by enhanced trajectory line...

The compliant framed modular mobile robot is a new type of wheeled mobile robot for which the motion control problems of posture stabilization, path following, and trajectory tracking are studied. This robot has the advantages of a simple modular design that provides full suspension and steering capability without any additional components. Due to the flexible nature of the robot, the kinematic...