动态事件触发机制下的无人艇无模型控制
Modeless control for an unmanned surface vehicle under the dynamic event-triggered mechanism
张磊 1郑宇鑫 1黄兵 1苏玉民1
作者信息
- 1. 哈尔滨工程大学 水下智能机器人技术国防科技重点实验室,黑龙江 哈尔滨 150001
- 折叠
摘要
针对复杂海洋环境下无人艇的轨迹跟踪控制问题,本文结合滑模变结构控制与自适应控制,设计了无模型控制器,基于此提出了动态事件触发机制,利用Lyapunov稳定性判据证明了闭环系统一致最终有界,且不存在Zeno现象.仿真试验结果表明:在模型参数未知情况下,所提控制器具有良好的控制性能,可有效降低执行机构和能源消耗,为无人艇轨迹控制的实际应用提供了有效基础.
Abstract
Focused on the trajectory tracking control for unmanned surface vehicles subject to complex ocean envi-ronments,a modeless controller is designed by combining the sliding mode variable-structure control with the adap-tive control.A dynamic event-triggering mechanism is proposed based on this controller.The Lyapunov stability a-nalysis proves that all error signals of the closed-loop system can converge to a compact set while excluding the Zeno behavior.The numerical simulation shows that the controller demonstrates satisfactory control performance in the scenarios wherein the model parameters remain unknown,and it can effectively lower the actuator and energy con-sumption,thus providing an effective basis for the actual application of the trajectory control of unmanned surface vehicles.
关键词
无人艇/轨迹跟踪/无模型/动态事件触发/滑模控制/自适应控制/Lyapunov稳定性/计算资源Key words
unmanned surface vehicle/trajectory tracking/modeless/dynamic event-triggered/sliding mode con-trol/adaptive control/Lyapunov stability/computing resource引用本文复制引用
基金项目
黑龙江省优秀青年基金(YQ2021E013)
中央高校基本科研业务费专项(3072021CFT0104)
出版年
2024
国家科技期刊平台
NSTL
万方数据