ABSTRACT
The hovercraft is a fascinating mechatronic system that possesses the unique ability
to float above land or water. In designing a mechatronic system, there are many
factors should be considered, such as mechanical body, control system and
actuators, etc.
The objective of the paper is to design, simulate and implement an autonomous
model of a small hovercraft. State-space method is used to represent the dynamics
of a hovercraft. A real time layered fuzzy navigator for a hovercraft in a dynamic
environment is proposed. The system consists of a Takagi-Sugeno-type fuzzy
motion planner and a modified proportional navigation based fuzzy controller.
MATLAB/Simulink software tool is used to design and verify the proposed algorithm.