Sliding Mode Decoupling Control of Hovercraft Heave and Pitch Dynamics

The motion of hovercraft is composed of heave and pitch in the vertical direction. It is easy to be disturbed by the external environment. The control of heave height can improve the comfort of air cushion vehicle passengers, and the control of pitch angle can effectively avoid the occurrence of pantograph burying accident. In addition, the hovercraft is a two degree of freedom under-actuated system controlled by a buffer fan in the vertical plane, which has strong coupling. It is also a typical nonlinear system. In this paper, a decoupled sliding mode controller for heave and pitch is designed. Based on the reaching law, an improved simulation experiment is carried out.