Hovercraft Course Control with the Constraints of Yaw States and Drift Angle under System Uncertainty

The course control problem of hovercraft with the constraints of yaw states and drift angle is studied under the system uncertainty caused by model parameter uncertainties and external disturbances. Firstly, a fixed-time observer is proposed to estimate the system uncertainty, which effectively compensates the influence of uncertainty in the process of course control. Secondly, based on the symmetric barrier Lyapunov function (SBLF), the speed controller is designed to constrain the drift angle. Thirdly, the course controller of the hovercraft is designed based on the integral barrier Lyapunov function (IBLF), and the bounded constraints of yaw angle and yaw rate are realized. Finally, simulation results verify the effectiveness of the method proposed in the terms of uncertainty estimation and motion state constraints of hovercraft.