Abstract
A kind of an air cushion vehicle (ACV) is known as a hovercraft which carries out a cruise by blowing off the air from the bottom of the body. The ACV has many advantages, such as amphibian vehicle, large payload, and so on. However, the ACV has drawbacks such as its drivability is bad. An improvement of the drivability is effective for the control of the ACV and the disturbance rejection performance of the controller is very significant. In this research, the position of the ACV is estimated using a marker by a turning camera. When the ACV runs on the straight and arc, the ACV is kept on the path by the designed controller. It compares with the control run performed by fixing a camera. The usefulness of the designed controller and followed marker is confirmed through an experiment.
