Application of quantitative feedback theory techniques for the control of a non-holonomic underactuated hovercraft

Abstract

A multivariable non-linear quantitative feedback theory (QFT) robust control approach is proposed for the design of tracking control foran underactuated vehicle with uncertainties in the model parameters.The system under study consists of a hovercraft equipped with two longitudinal thrusters. It is modelled as a second-order non-linear system with plant uncertainties and with less degree of freedom for actuation.The approach to non-linear QFT synthesis is based on a local linearisation of the non-linear plant about closed-loop acceptable outputs. The method solves the problem of uncertainties in the model parameters and proves robust performance of the tracking control of the underactuated hovercraft.