Multi-Domain Modeling of the Dynamics of a Hovercraft for Controller Development

This paper discusses the modeling and simulation of a hovercraft vehicle for the purposes of developing a vehicular motion control system. A multi-domain modeling approach is applied through the use of The MathWorks product Simulink ®. The model includes the full powertrain, rack-and-pinion steering, ground effects and electric power generation. This model has been created to assist in the development of a vehicular motion control system that employs classic continuous control methods. Use of these methods will draw upon linearized mathematical models of the system that are generated by this full non-linear model. This full non-linear model will then be used to evaluate the performance of the controller prior to the availability of the fully-integrated hovercraft hardware. I