Sideslip control method of air cushion vehicle based on nonsingular fast terminal slide mode

摘要

For the problem of sideslip control of air cushion vehicle, the sideslip controller of air cushion vehicle based on nonsingular fast terminal slide mode (NFTSM) with the feature of good robustness and fast convergent rate is designed. Also sideslip changer which can supervise the status of system is designed. Sideslip controller can coordinate with heading controller to achieve course control of ACV during direct sailing status to ensure that ACV arrives at destination accurately. And in turn status, the desired value of sideslip controller is changed by sideslip changer to make the sideslip angle within the safety limit. Thus, the safety and stability of ACV is guaranteed. The effectiveness of the control method is verified by simulations.