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Controller for an Asymmetric Underactuated Hovercraft in Terms of Quasi-Velocities


[ 1 ] Instytut Automatyki i Robotyki, Wydział Automatyki, Robotyki i Elektrotechniki, Politechnika Poznańska | [ P ] employee

Scientific discipline (Law 2.0)

[2.2] Automation, electronics, electrical engineering and space technology

Year of publication


Published in

Applied Sciences

Journal year: 2023 | Journal volume: vol. 13 | Journal number: iss. 8

Article type

scientific article

Publication language


  • underactuated hovercraft
  • nonlinear tracking control
  • simulation

EN In this paper, a nonlinear controller for tracking a desired trajectory for an underactuated hovercraft is considered. It is a modification of a method known from the literature. However, the control algorithm considered here has two important features that differ from the mentioned control strategy. First, it concerns the case when the center of mass does not coincide with the geometric center, which results in additional forces and moments of force. The lack of symmetry causes the original trajectory tracking method not to take this fact into account, while the proposed approach is a generalization of the known concept. Here, a diagonalization of the inertia matrix has been applied, by means of a velocity transformation, which made it possible to reduce the symmetric matrix to a diagonal form. Secondly, the transformed quasi-velocity equations of motion allow some insight into the dynamics of the vehicle as it moves, which was not shown in the source work. The offered approach was verified by numerical tests for a hovercraft model with three DOF and for two desired trajectories. The method can be useful in preliminary simulation studies at the controller selection stage without experimental validation.

Date of online publication


Pages (from - to)

4965-1 - 4965-20





Article Number: 4965

License type

CC BY (attribution alone)

Open Access Mode

open journal

Open Access Text Version

final published version

Date of Open Access to the publication

at the time of publication

Ministry points / journal


Impact Factor


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