Control design of an unmanned hovercraft for agricultural applications
Keywords:
controller, direct Lyapunov method, nonholonomic constraint, underactuated system, unmanned hovercraftAbstract
The efficient and precise application of agricultural materials such as fertilizer or herbicide can be greatly facilitated by autonomous operation. This is especially important under difficult conditions at remote sites. The purpose of this work is to develop an accurate nonlinear controller using a direct Lyapunov approach to ensure stability of an unmanned hovercraft prototype used for the execution of these agricultural tasks. Such a craft constitutes an underactuated system which has fewer actuators than degrees of freedom. The proposed closed loop system is simulated to demonstrate that a control law can stabilize both the actuated and unactuated degrees of freedom of the hovercraft. It is shown that the position and orientation of the hovercraft achieve high dynamic and steady performance. Keywords: controller, direct Lyapunov method, nonholonomic constraint, underactuated system, unmanned hovercraft DOI: 10.3965/j.ijabe.20150802.1468References
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[2] Xue X Y, Tu Kang, W C Qin, Y B Lan, Zhang H H. Drift and deposition of ultra-low altitude and low volume application in paddy field. Int J Agric & Biol Eng, 2014; 7(4): 23–28.
[3] Huang Y B, Thomson S J, Hoffmann W C, Lan Y B, Fritz B K. Development and prospect of unmanned aerial vehicle technologies for agricultural production management. Int J Agric & Biol Eng, 2013; 6(3): 1–10.
[4] Wang, P, Y B Lan, X W Luo, Z Y Zhou, Z Wang, Y Wang Integrated sensor system for monitoring rice growth conditions based on unmanned ground vehicle system. Int J Agric & Biol Eng, 2014; 7(2): 75–81.
[5] Marconett A L. A study and implementation of an autonomous control system for a vehicle in the zero drag environment of space. University of California, Davis, 2003.
[6] Aguiar A P, Pascoal A M. Regulation of a nonholonomic autonomous underwater vehicle with parametric modeling uncertainty using lyapunov functions. 40th IEEE Conference on Decision and Control, Orlando, 2001.
[7] Fantoni I, Lozano R, Mazenc F, Pettersen K Y. Stabilization of a nonlinear underactuated hovercraft. International Journal of Robust and Nonlinear Control, 2000; 10(8): 645–654.
[8] Fantoni I. Non-Linear control for underactuated mechanical system. Springer-Verlag London, 2002; ch 2.
[9] Chaos D, Moreno-Salinas D, Muñoz-Mansilla R, Aranda J. Nonlinear control for trajectory tracking of a nonholonomic rc-hovercraft with discrete inputs. Hindawi Publishing Corporation, Mathematical Problems in Engineering, 2013; Article ID589267, 16p http://dx.doi.org/10.1155/2013/ 589267
[10] Wang C L, Liu Z Y, Fu M Y, Bian X Q. Amphibious hovercraft course control based adaptive multiple model approach. IEEE Transaction of International Conference on Mechatronics and Automation (ICMA), 2010; 601–604. DOI: 10.1109/ICMA.2010.5588410
[11] Lindsey H. Hovercraft kinematic modelling. Center of Applied Mathematics, University of St Thomas, 2005.
[12] Ogata K. Modern control engineering (3rd ed). Englewood Cliffs, NJ, Prentice-Hall, 1998; ch 15.
[13] White W N, Foss M, Patenaude J, Guo X, Garcia D. Improvements in direct Lyapunov stabilization of underactuated, mechanical systems. American Control Conference IEEE, 2008: pp 2927–2932. DOI: 10.1109/ ACC.2008.4586940
[14] White W N, Foss M, Guo X. A direct Lyapunov approach for stabilization of underactuated mechanical systems. American Control Conference, New York, IEEE, 2007: pp 4817–4822. DOI: 10.1109/ACC.2007.4282944
[15] White W N, Foss M, Guo X. A direct Lyapunov approach for a class of underactuated mechanical systems. American Control Conference, IEEE, 2006. DOI: 10.1109/ACC.2006. 1655338
[16] Khalil H K. Nonlinear systems. Englewood Cliffs, NJ: Prentice Hall, 2002.
[17] Slotine J E, Li W. Applied nonlinear control. Englewood Cliffs, NJ: Prentice Hall 1991.
[18] Sira-Ramirez H. Dynamic second-order sliding mode control of the hovercraft vessel. IEEE Transaction on Control System Technology, 2002; pp 860 – 865.
[19] Sira-Ramirez H, Ibanez C. The control of the hovercraft system: a flatness based approach. Proceedings of the IEEE International Conference on Control Applications, 2000; pp692 –697.
[20] Sira-Ramirez H, Ibanez C. On the control of the hovercraft system. Dynamics and Control, 2000; 10: 151–163.
[21] Fantoni I, Lozano R, Mazenc F, Pettersen K Y. Stabilization of a nonlinear underactuated hovercraft. Proceedings of the IEEE Conference on Decision and Control, Phoenix, AZ, 1999; Vol. 3, pp 2533-2538
[22] Garcia D. Solvability of the Direct Llyapunov First Matching Condition in Terms of the Generalized Coordinates. Doctoral dissertation, Manhattan, Kansas State University, 2012; 387 p.
[2] Xue X Y, Tu Kang, W C Qin, Y B Lan, Zhang H H. Drift and deposition of ultra-low altitude and low volume application in paddy field. Int J Agric & Biol Eng, 2014; 7(4): 23–28.
[3] Huang Y B, Thomson S J, Hoffmann W C, Lan Y B, Fritz B K. Development and prospect of unmanned aerial vehicle technologies for agricultural production management. Int J Agric & Biol Eng, 2013; 6(3): 1–10.
[4] Wang, P, Y B Lan, X W Luo, Z Y Zhou, Z Wang, Y Wang Integrated sensor system for monitoring rice growth conditions based on unmanned ground vehicle system. Int J Agric & Biol Eng, 2014; 7(2): 75–81.
[5] Marconett A L. A study and implementation of an autonomous control system for a vehicle in the zero drag environment of space. University of California, Davis, 2003.
[6] Aguiar A P, Pascoal A M. Regulation of a nonholonomic autonomous underwater vehicle with parametric modeling uncertainty using lyapunov functions. 40th IEEE Conference on Decision and Control, Orlando, 2001.
[7] Fantoni I, Lozano R, Mazenc F, Pettersen K Y. Stabilization of a nonlinear underactuated hovercraft. International Journal of Robust and Nonlinear Control, 2000; 10(8): 645–654.
[8] Fantoni I. Non-Linear control for underactuated mechanical system. Springer-Verlag London, 2002; ch 2.
[9] Chaos D, Moreno-Salinas D, Muñoz-Mansilla R, Aranda J. Nonlinear control for trajectory tracking of a nonholonomic rc-hovercraft with discrete inputs. Hindawi Publishing Corporation, Mathematical Problems in Engineering, 2013; Article ID589267, 16p http://dx.doi.org/10.1155/2013/ 589267
[10] Wang C L, Liu Z Y, Fu M Y, Bian X Q. Amphibious hovercraft course control based adaptive multiple model approach. IEEE Transaction of International Conference on Mechatronics and Automation (ICMA), 2010; 601–604. DOI: 10.1109/ICMA.2010.5588410
[11] Lindsey H. Hovercraft kinematic modelling. Center of Applied Mathematics, University of St Thomas, 2005.
[12] Ogata K. Modern control engineering (3rd ed). Englewood Cliffs, NJ, Prentice-Hall, 1998; ch 15.
[13] White W N, Foss M, Patenaude J, Guo X, Garcia D. Improvements in direct Lyapunov stabilization of underactuated, mechanical systems. American Control Conference IEEE, 2008: pp 2927–2932. DOI: 10.1109/ ACC.2008.4586940
[14] White W N, Foss M, Guo X. A direct Lyapunov approach for stabilization of underactuated mechanical systems. American Control Conference, New York, IEEE, 2007: pp 4817–4822. DOI: 10.1109/ACC.2007.4282944
[15] White W N, Foss M, Guo X. A direct Lyapunov approach for a class of underactuated mechanical systems. American Control Conference, IEEE, 2006. DOI: 10.1109/ACC.2006. 1655338
[16] Khalil H K. Nonlinear systems. Englewood Cliffs, NJ: Prentice Hall, 2002.
[17] Slotine J E, Li W. Applied nonlinear control. Englewood Cliffs, NJ: Prentice Hall 1991.
[18] Sira-Ramirez H. Dynamic second-order sliding mode control of the hovercraft vessel. IEEE Transaction on Control System Technology, 2002; pp 860 – 865.
[19] Sira-Ramirez H, Ibanez C. The control of the hovercraft system: a flatness based approach. Proceedings of the IEEE International Conference on Control Applications, 2000; pp692 –697.
[20] Sira-Ramirez H, Ibanez C. On the control of the hovercraft system. Dynamics and Control, 2000; 10: 151–163.
[21] Fantoni I, Lozano R, Mazenc F, Pettersen K Y. Stabilization of a nonlinear underactuated hovercraft. Proceedings of the IEEE Conference on Decision and Control, Phoenix, AZ, 1999; Vol. 3, pp 2533-2538
[22] Garcia D. Solvability of the Direct Llyapunov First Matching Condition in Terms of the Generalized Coordinates. Doctoral dissertation, Manhattan, Kansas State University, 2012; 387 p.
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Published
2015-04-30
How to Cite
Garcia, D. I., & White, W. N. (2015). Control design of an unmanned hovercraft for agricultural applications. International Journal of Agricultural and Biological Engineering, 8(2), 72–79. Retrieved from https://ijabe.migration.pkpps03.publicknowledgeproject.org/index.php/ijabe/article/view/1468
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Information Technology, Sensors and Control Systems
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