| CONTROLLER DESIGN FOR A SEMI-TRACK AIR-CUSHION VEHICLE |
| C. MA, D. HE, D. XIE, F. YU, Z. LUO |
| Shanghai Jiao Tong University |
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| ABSTRACT |
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To enhance the trafficability of semi-track air-cushion vehicle (STACV), a prototype is manufactured and a heirarchy controller is designed. The control objectives are, 1) to minimize the total power consumption; 2) to follow the driver |
| Key Words:
Semi-track air-cushion vehicle, Soft terrain, Optimal power consumption, Model predictive control, Body attitude control |
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