@inproceedings{09022f60ca974e499e810269849f6561,
title = "Circumnavigation for Underactuated Hovercrafts Using Postion Measurements",
abstract = "This paper addresses the target circumnavigation control problem for an underactuated hovercraft. To our knowledge, this problem has not been previously investigated for these platforms. Drawing upon cascaded systems theory, state and dynamic output feedback controllers are systematically developed to ensure global exponential stability of the nominal closed-loop system. The analysis is then extended to address more practical scenarios, proving semi-global exponential stability under input saturation and ensuring the system is practically stable in the presence of external disturbances. The effectiveness of the proposed methods is validated through numerical simulations.",
keywords = "Underactuated hovercraft, position measurement, target circumnavigation",
author = "Yue He and Baoli Ma",
note = "Publisher Copyright: {\textcopyright} The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2026.; 21st Chinese Intelligent Systems Conference, CISC 2025 ; Conference date: 25-10-2025 Through 26-10-2025",
year = "2026",
doi = "10.1007/978-981-95-6553-5\_6",
language = "英语",
isbn = "9789819565528",
series = "Lecture Notes in Electrical Engineering",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "50--61",
editor = "Yingmin Jia and Yang Liu and Weicun Zhang and Yongling Fu",
booktitle = "Proceedings of 2025 Chinese Intelligent Systems Conference",
address = "德国",
}