In this paper, we investigate the problem of safety motion control for an underactuated hovercraft from subject to safety constraint on the states, and model uncertainties. First, a new improved integral barrier Lyapunov function is proposed to constrain the surge speed, it can guarantee the lower limit of the surge speed is above the resistance hump speed in order to prevent loss of course stability. Second, to ensure that the heading remains within the pre-specified safety boundary, a time-varying integral barrier Lyapunov function is introduced to avoid the violation of the constraint. Third, we constrain the yaw angular velocity to the interior of the time-varying safety boundary is related to the surge speed to aim at performing the safety turning under the high speed. To deal with model uncertainties, an adaptive parameter approximation algorithm is designed to estimate it. With the help of Lyapunov’s stability theory, it can be proved that all the tracking errors are uniformly ultimately bounded. Finally, results from some simulation studies verify the effectiveness and universality of the proposed scheme.

在本文中，我们从受状态安全约束和模型不确定性的影响来研究欠驱动气垫船的安全运动控制问题。首先，提出了一种新的改进积分势垒Lyapunov函数来约束浪涌速度，它可以保证浪涌速度的下限在阻力驼峰速度以上，以防止航向稳定性的损失。其次，为了确保航向保持在预先指定的安全边界内，引入了时变积分障碍 Lyapunov 函数以避免违反约束。第三，我们将偏航角速度限制在与喘振速度相关的时变安全边界内部，以实现高速下的安全转弯。处理模型的不确定性，自适应参数逼近算法被设计来估计它。借助李雅普诺夫稳定性理论，可以证明所有的跟踪误差最终一致有界。最后，一些仿真研究的结果验证了所提出方案的有效性和通用性。