Nonlinear Control for Trajectory Tracking of a Nonholonomic RC-Hovercraft with Discrete Inputs

<table>Tracking error for different circle radius <svg height="13.1625" id="M318" style="vertical-align:-1.59705pt" version="1.1" viewbox="0 0 83.262497 13.1625" width="83.262497" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
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</svg> meters in red, violet, green, and blue, respectively.</table>

Mathematical Problems in Engineering

fig10

Figure 10

Figure 10: Nonlinear Control for Trajectory Tracking of a Nonholonomic RC-Hovercraft with Discrete Inputs 