Stabilization of Non-holonomic 03 DOF Hovercraft using Robust RST Control Design

Abstract

There are several autonomous vehicles such that unmanned aerial vehicle (UAV), unmanned ground vehicle (UGV) and unmanned under-water vehicle (UUV). All these vehicles are proposed earlier for several applications. Researchers are still engaged in carrying out their research on hovercraft because of its hovering operation on land, water and ice. Moreover, due to this operation it has been significantly used in transporting the heavy loads from one place to another. Looking over its stability, power and size requirements, this paper proposes the stabilization of non-holonomic three degree of freedom (DOF) hovercraft using robust regulation and pole placement (RST) control design. This paper suggests dynamic controller design to stabilize the parameters of proposed prototype model of hovercraft. This control scheme enables our prototype to execute various tasks in dull, difficult, dangerous and dirty conditions. The paper proposes the Simulink based simulations to verify the results along with the validation with hardware results.