Barrier Lyapunov Function-Based Adaptive Control of an Uncertain Hovercraft with Position and Velocity Constraints

Table 1

Nominal values of the hovercraft in the simulation.

Parameter	Nominal Value	SI-Unit	Parameter	Nominal Value	SI-Unit
	-0.345	-		-0.00011	-
	-0.00516	1/rad		-0.0012	1/rad
	-0.2504	1/rad		0.04582	1/rad
	-0.0001	s/rad		-0.000356	-
	-0.1049	-		-0.001534	1/rad
	0.00014	1/rad		-0.05412	1/rad
	0.191	1/rad		-0.00021	s/rad
	-0.001	-		0	1/rad
	0.002614	1/rad		0	1/rad
	0.1645	1/rad		40000	kg
	0.00042	s/rad		247810
	45.27			1746347
	93			268
	21