Quantized-State Control of a Hovercraft with Discrete Inputs

The In this work the quantized state control QSC methodology has been applied to the tracking control problem of a Hovercraft with discrete control inputs. Firstly a continuous control law for the hovercraft with continuous inputs is designed. Then this controller is adapted to the discontinuous inputs by using a PWM strategy. Finally the QSC methodology is introduced. This paper shows that the control effort and number of computations in the controller can be reduced by the QSC strategy without loss of performance.