Application of Quantitative Feedback Theory Techniques for the Control of a Non-Holonomic Underactuated Hovercraft

A multivariable non-linear quantitative feedback theory (QFT) robust control approach is proposed for the design of tracking control foran underactuated vehicle with uncertainties in the model parameters. The system under study consists of a hovercraft equipped with two longitudinal thrusters. It is modelled as a second-order non-linear system with plant uncertainties and with less degree of freedom for actuation. The approach to non-linear QFT synthesis is based on a local linearisation of the non-linear plant about closed-loop acceptable outputs. The method solves the problem of uncertainties in the model parameters and proves robust performance of the tracking control of the underactuated hovercraft.