A novel asymmetrical integral barrier Lyapunov function-based trajectory tracking control for hovercraft with multiple constraints

This paper addresses the trajectory tracking control problem of a hovercraft with asymmetrical time-varying multiple state constraints in the presence of unmodeled dynamics and external disturbances. By using the four -degree-of-freedom vector mathematical model of hovercraft, an extended state observer is adopted to provide the lumped disturbance estimation. Then, the virtual surge velocity and yaw angular velocity control laws are obtained by using a regular log-type barrier Lyapunov function to stabilize the position and yaw errors. In addition, compared with the traditional symmetric integral barrier Lyapunov function, a new asymmetric integral barrier Lyapunov function is introduced to the design process in this paper to address asymmetric state constraint problems. The surge velocity and yaw angular velocity to the inside of the boundary are analyzed to guarantee the safe turning motion or performance required at high speed, and the tracking errors of the closed-loop system are ultimately uniformly bounded by using the cascade system's stability lemma. The effectiveness of the proposed control scheme is shown via numerical simulations.