Maneuvering support system for air cushion vehicle- Trial of an anti-runaway system using a Lyapunov-like function -

Ryota Hayashi, Hisanori Amano, Tetsuya Kinugasa, Koji Yoshida

In this study, we have developed a maneuvering support system for an air cushion vehicle (ACV) model.
A driver can maneuver the ACV model without its drift motion by using the proposed maneuvering support system.
The ACV model aims to track the trajectory which is generated from the driver’s maneuvering inputs.
We refer to the trajectory as a maneuvering trajectory.
In our previous study, the behavior of the ACV model became frequently unstable and it resulted in being a runaway ACV model in the case of the presence of some disturbance.
In this paper, we propose an anti-runaway system for the ACV model in the case of the presence of some disturbance.
When the deviation of the actual trajectory of the ACV model from the maneuvering trajectory becomes significant, the maneuvering trajectory is reset to align with the actual trajectory.
Then we investigate the effects of the anti-runaway system on the maneuverability of the ACV model.

Artificial Life and Robotics

Springer

10.1007/s10015-025-01060-y

https://doi.org/10.1007/s10015-025-01060-y