Stabilization of a nonlinear underactuated hovercraft

We consider the control of a hovercraft having only two control inputs with three degrees of freedom. The model is obtained from equations of a simpli fied ship which is nonlinear and underactuated. Using a co-ordinate transfo rmation the model is given by polynomial equations which describe its kinem atics and dynamics. Two control laws are proposed. The first one controls t he velocity of the hovercraft. The other one stabilizes both its position a nd the (underactuated) side velocity and provides global convergence to the origin. The convergence analysis is based on a Lyapunov approach. Copyrigh t (C) 2000 John Wiley & Sons, Ltd.