Trajectory tracking control of hovercraft based on Shutting-Backstepping Sliding Model

Considering the problems of differential expansion and input saturation of the controller designed by the general backstepping method of the hovercraft during trajectory tracking, this paper proposes a Shunting-backstepping sliding mode control method. First, a three-degree-of-freedom hovercraft mathematical model is established. Then for the unknown environmental disturbances during actual navigation, an exponentially convergent disturbance observer is designed to estimate the environmental disturbances and compensate on the controller. A Shunting back-stepping sliding mode trajectory tracking controller is established. Finally, the simulation results compared with the tradition-al backstep sliding mode method show that the proposed algorithm can effectively avoid differential expansion and input saturation.