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Keywords = unmanned hovercraft

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19 pages, 3837 KB  
Article
Trajectory Tracking of Unmanned Hovercraft: Event-Triggered NMPC Under Actuation Limits and Disturbances
by Haolun Zhang, Yuanhui Wang and Han Sun
Actuators 2026, 15(1), 6; https://doi.org/10.3390/act15010006 - 22 Dec 2025
Viewed by 691
Abstract
This study addresses the trajectory tracking problem for unmanned hovercrafts operating under unknown time-varying environmental disturbances and actuator saturation. To balance real-time performance with control accuracy, an event-triggered adaptive nonlinear model predictive control (EANMPC) method is proposed. The approach dynamically adjusts the prediction [...] Read more.
This study addresses the trajectory tracking problem for unmanned hovercrafts operating under unknown time-varying environmental disturbances and actuator saturation. To balance real-time performance with control accuracy, an event-triggered adaptive nonlinear model predictive control (EANMPC) method is proposed. The approach dynamically adjusts the prediction horizon based on tracking error and incorporates an event-triggering mechanism to reduce unnecessary control updates. This design significantly alleviates computational burden while maintaining robust tracking performance. Furthermore, a rigorous input-to-state stability proof is provided without resorting to local linearization. Simulation results under two distinct trajectories demonstrate that the proposed method achieves superior tracking accuracy and reduces computational cost by 57% compared to conventional NMPC. The framework thus offers a practical and efficient control solution for underactuated hovercraft systems operating in complex maritime environments. Full article
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27 pages, 10956 KB  
Article
Distributed Neuroadaptive Formation Control for Aerial Base Station-Assisted Hovercraft Systems with Mixed Disturbances
by Peiyun Ye, Renhai Yu and Qihe Shan
J. Mar. Sci. Eng. 2024, 12(11), 1946; https://doi.org/10.3390/jmse12111946 - 31 Oct 2024
Cited by 2 | Viewed by 2098
Abstract
Effectively addressing the formation control of ABS-assisted hovercraft systems with heterogeneities, unavailable leaders’ convex combination states, nonlinearities, and mixed disturbances poses significant challenges. This paper proposes a distributed neuroadaptive formation tracking strategy of ABS-assisted hovercraft systems for the first time, where aerial base [...] Read more.
Effectively addressing the formation control of ABS-assisted hovercraft systems with heterogeneities, unavailable leaders’ convex combination states, nonlinearities, and mixed disturbances poses significant challenges. This paper proposes a distributed neuroadaptive formation tracking strategy of ABS-assisted hovercraft systems for the first time, where aerial base stations (ABSs) are composed of unmanned aerial vehicles (UAVs) for data distribution and computation offloading. Firstly, UAVs are designed to track the virtual-leader while shaping a fixed formation, and the observer is devised for each follower hovercraft to estimate the convex combination states of UAVs. Then, output regulation equations are employed to transform heterogeneous systems into a compact form via the Kronecker product, while neural networks (NNs) are introduced to compensate for model nonlinearities. Furthermore, based on random differential equations (RDEs) combined with Lyapunov theory, the noise-to-state practical stability in probability (NSPS-P) property of the error dynamics under mixed disturbances can be obtained. Finally, simulation examples demonstrate that the outputs of follower hovercrafts rapidly achieve a time-varying formation and rotate around convex combination states of leader UAVs simultaneously. Full article
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23 pages, 9879 KB  
Article
Design of Amphibious Vehicle for Unmanned Mission in Water Quality Monitoring Using Internet of Things
by Balasubramanian Esakki, Surendar Ganesan, Silambarasan Mathiyazhagan, Kanagachidambaresan Ramasubramanian, Bhuvaneshwaran Gnanasekaran, Byungrak Son, Su Woo Park and Jae Sung Choi
Sensors 2018, 18(10), 3318; https://doi.org/10.3390/s18103318 - 3 Oct 2018
Cited by 84 | Viewed by 17715
Abstract
Unmanned aerial vehicles (UAVs) have gained significant attention in recent times due to their suitability for a wide variety of civil, military, and societal missions. Development of an unmanned amphibious vehicle integrating the features of a multi-rotor UAV and a hovercraft is the [...] Read more.
Unmanned aerial vehicles (UAVs) have gained significant attention in recent times due to their suitability for a wide variety of civil, military, and societal missions. Development of an unmanned amphibious vehicle integrating the features of a multi-rotor UAV and a hovercraft is the focus of the present study. Components and subsystems of the amphibious vehicle are developed with due consideration for aerodynamic, structural, and environmental aspects. Finite element analysis (FEA) on static thrust conditions and skirt pressure are performed to evaluate the strength of the structure. For diverse wind conditions and angles of attack (AOA), computational fluid dynamic (CFD) analysis is carried out to assess the effect of drag and suitable design modification is suggested. A prototype is built with a 7 kg payload capacity and successfully tested for stable operations in flight and water-borne modes. Internet of things (IoT) based water quality measurement is performed in a typical lake and water quality is measured using pH, dissolved oxygen (DO), turbidity, and electrical conductivity (EC) sensors. The developed vehicle is expected to meet functional requirements of disaster missions catering to the water quality monitoring of large water bodies. Full article
(This article belongs to the Special Issue Unmanned Aerial Vehicle Networks, Systems and Applications)
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