Nonlinear underactuated systems (i.e. systems with fewer control inputs than configuration variables) present significant challenges for automatic control. This thesis explores feedback control of an underactuated hovercraft over a wireless communication channel using techniques from nonlinear control theory.
The control laws are demonstrated on a real R/C hovercraft using a distributed autopilot and a Bluetooth network. A two-dimensional aided INS is developed using a MEMs IMU and the "Cricket" RF/ultrasonic ranging system. Experimental and simulated results from a high-fidelity model are shown to agree nicely.
Author:- Kulis, Zachary Reid