Boundary Control of Air Cushion Vehicle Based on an Improved Multi Power Reaching Law of Sliding Mode Control

In order to improve the Air Cushion Vehicle(ACV) speed and turning rate control convergence speed and accuracy, an improved multi power reaching law of sliding mode control is proposed, which can be adjusted when the system is in different states. The convergence speed of the system is greatly improved, there is no high-frequency chattering phenomenon, and the arctangent function is used to limit the amplitude of the control input signal to prevent the control input from being oversaturated. Furthermore, the turning rate of the ACV is strictly limited under different speed to avoid unsafe sideslip and roll during the steering process. Finally, the effectiveness of the proposed method is verified by comparing the multi power reaching law of sliding mode control with the simulation experiment of ACV speed and turning rate control.