Application of Control Scheme for Trajectory Tracking of Hovercraft and Indoor Airship

This paper is concerned with the application of a velocity transformation-based control scheme developed for underpowered marine vehicles to other vehicles with a similar mathematical model to the underwater vehicle. The problem of applicability of known control algorithms to systems that differ from the original is important in that its solution makes it possible to adapt a known control strategy for a similar class of vehicles. It is then not necessary to construct a new algorithm, but it is enough to transform one that is known. The effectiveness of the proposed approach was verified using simulations for a 3 DOF hovercraft model and an 3 DOF indoor airship.