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

Table 2

Force selection table.

	𝜏>0	𝜏<0
𝐹>0	𝐹𝑝=𝑢max,𝐹𝑠=−𝑢min	𝐹𝑝=−𝑢min,𝐹𝑠=𝑢max
𝐹<0	𝐹𝑝=0,𝐹𝑠=𝑢min	𝐹𝑝=𝑢min,𝐹𝑠=0