基于事件触发通信机制的欠驱动水下机器人分布式固定时间三维编队控制
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作者单位:

大连海事大学

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中图分类号:

TP273

基金项目:

国家自然科学基金项目(面上项目,重点项目,重大项目)


Event-triggered communication mechanism-based distributed fixed-time three-dimension formation control of underactuated AUVs
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Affiliation:

Dalian Maritime University

Fund Project:

The National Natural Science Foundation of China (General Program, Key Program, Major Research Plan)

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    摘要:

    本文针对具有不确定动态和未知时变海洋环境扰动的欠驱动自主水下机器人(autonomous underwater vehicles, AUVs),提出了一种基于事件触发通信机制的分布式固定时间三维编队控制方案.首先设计了一种固定时间扰动观测器估计AUV不确定动态和未知时变海洋环境扰动组成的集总扰动,且观测器估计误差在固定调节时间内收敛到零;建立了事件触发通信机制,降低了多AUV之间的通信频率,节约了通信资源;进一步,基于上述固定时间扰动观测器和事件触发通信机制,融合动态面控制技术和固定时间控制理论,设计了分布式事件触发固定时间三维编队控制律.现有的固定时间扰动观测器和控制律均有两个幂次项,本文所设计的固定时间扰动观测器和固定时间编队控制律仅保留收敛速度较快的幂次项,可降低参数调节难度.理论分析表明所设计的编队控制律能使多欠驱动AUV在固定调节时间内实现三维编队控制,仿真和比较结果验证了所提控制方案的有效性和优越性.

    Abstract:

    This paper proposes an event-triggered communication mechanism-based distributed fixed-time three- dimension (3-D) formation control scheme of underactuated autonomous underwater vehicles (AUVs) in the presence of uncertain dynamics and unknown time-varying ocean environmental disturbances. Firstly, a fixed-time disturbance observer (FxTDO) is designed to estimate the compound disturbances lumped by the uncertain dynamics and unknown time-varying ocean environmental disturbances and the estimation errors of the FxTDO will converge to zero within a fixed settling time. By constructing an event-triggered communication mechanism, the communication frequency between AUVs is reduced and the communication resources of the network are saved. Furthermore, based on the above FxTDO and event-triggered communication mechanism, a distributed event-triggered fixed-time 3-D formation control law is designed by synthesizing the dynamic surface control technique and fixed-time control theory. Both the existing fixed-time disturbance observers and control laws have two power terms, the designed FxTDO and fixed-time formation control law in this paper only retain the power terms with faster convergence rate to reduce the difficulty of parameter adjustment. Theoretical analysis indicates that the designed control law enables AUVs achieve the desired 3-D formation control within a fixed settling time. Simulation and comparison results verify the effectiveness and superiority of our control scheme.

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历史
  • 收稿日期:2024-03-31
  • 最后修改日期:2024-10-28
  • 录用日期:2024-09-03
  • 在线发布日期: 2024-09-18
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