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

Table 1

Model parameters.

Parameter	Value
𝑚	0.995 Kg
𝐽	0.014 Kg/m^2
𝑙	0.075 m
𝑢max	0.545 N
𝑢min	0.347 N
𝑑𝑢	0.3588 s^−1
𝑑𝑟	1.7357 s^−1