Feedback Control of a Hovercraft over a Wireless Link

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dc.contributor.advisorKrishnaprasad, Perinkulam Sen_US
dc.contributor.advisorJusth, Eric Wen_US
dc.contributor.authorKulis, Zachary Reiden_US
dc.contributor.departmentElectrical Engineeringen_US
dc.contributor.publisherDigital Repository at the University of Marylanden_US
dc.contributor.publisherUniversity of Maryland (College Park, Md.)en_US
dc.date.accessioned2006-06-14T06:14:16Z
dc.date.available2006-06-14T06:14:16Z
dc.date.issued2006-06-01en_US
dc.description.abstractNonlinear underactuated systems (i.e. systems with fewer control inputs than configuration variables) present significant challenges for automatic control. This thesis explores feedback control of an underactuated hovercraft over a wireless communication channel using techniques from nonlinear control theory. A family of control laws stabilizing the hovercraft <em>reduced dynamics</em> - including zero velocity, constant forward/reverse velocity, and constant angular velocity stabilization - are derived. Lyapunov arguments are used to prove convergence of the reduced dynamics under the control laws. It is shown that heading cannot be stabilized by a continuously differentiable state feedback law. In response, two hybrid control algorithms for heading stabilization are proposed. The control laws are demonstrated on a real R/C hovercraft using a distributed autopilot and a Bluetooth network. A two-dimensional aided INS is developed using a MEMs IMU and the "Cricket" RF/ultrasonic ranging system. Experimental and simulated results from a high-fidelity model are shown to agree nicely.en_US
dc.format.extent5644879 bytes
dc.format.mimetypeapplication/pdf
dc.identifier.urihttp://hdl.handle.net/1903/3649
dc.language.isoen_US
dc.subject.pqcontrolledEngineering, Electronics and Electricalen_US
dc.subject.pqcontrolledEngineering, System Scienceen_US
dc.subject.pquncontrolledautonomous hovercraften_US
dc.subject.pquncontrolleddistributed control using Bluetoothen_US
dc.subject.pquncontrolledfeedback controlen_US
dc.subject.pquncontrolledhovercraft autopiloten_US
dc.subject.pquncontrolledLyapunov stabilityen_US
dc.subject.pquncontrollednonlinear underactuated dynamicsen_US
dc.titleFeedback Control of a Hovercraft over a Wireless Linken_US
dc.typeThesisen_US

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