%I Institute of Electrical and Electronics Engineers Inc.
%A G.E. Mustafa Abro
%A S.A. Zulkifli
%A V.S. Asirvadam
%A Z.A. Ali
%A N. Mathur
%A R. Kumar
%T Modeling, Controlling & Stabilization of An Underactuated Air-Cushion Vehicle (ACV)
%K Air cushion vehicles; Air cushioning; Degrees of freedom (mechanics); Proportional control systems; Uncertainty analysis, Air-cushion vehicles; Degree of freedom; Differentiators; Fuzzy based proportional integrated differentiator; Mechatronic systems; Proportional integrated differentiator; Uncertainty; Under-actuation; Underactuation, and uncertainty, Three term control systems
%X Underactuated systems are very difficult to control and stabilize due to fewer number of control inputs as compared to degrees of freedom (DOF). Thus, this research manuscript presents a comparative analysis of two major control schemes for an underactuated air cushion vehicle (ACV) commonly known as hovercraft. By studying the translational and angular dynamics of proposed underactuated mechatronic system, the mathematical model had been derived using Newton Euler formalism. The validity and effectiveness of proportional integrated differentiator (PID) control design is compared with the Fuzzy based PID (F-PID) scheme. Thus, with provided simulation results, paper concludes that the proposed algorithm of fuzzy based PID (F-PID) is better solution for achieving robust transient and steady state performances than simple PID control scheme even in the availability of bounded uncertainties with quick convergence rate. © 2021 IEEE
%R 10.1109/ICSIPA52582.2021.9576785
%D 2021
%L scholars15356
%J Proceedings of the 2021 IEEE International Conference on Signal and Image Processing Applications, ICSIPA 2021
%O cited By 1; Conference of 7th IEEE International Conference on Signal and Image Processing Applications, ICSIPA 2021 ; Conference Date: 13 September 2021 Through 15 September 2021; Conference Code:176997