基于事件觸發(fā)機制的多自主水下航行器協(xié)同路徑跟蹤控制
doi: 10.16383/j.aas.c211163
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大連海事大學(xué)輪機工程學(xué)院 大連 116026
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大連海事大學(xué)船舶電氣工程學(xué)院 大連 116026
基金項目: 國家自然科學(xué)基金(51979020, 51909021, 51939001, 52071044), 國家青年拔尖人才計劃(36261402), 遼寧省博士科研啟動(dòng)計劃(2023-BS-077), 遼寧省教育廳高等學(xué)?；究蒲许椖?LJKZ0044, LJKQZ2021007), 大連海事大學(xué)博聯(lián)科研基金(3132023616), 水路交通控制全國重點(diǎn)實(shí)驗室開(kāi)放課題(SKLMTA-DMU2024Y3), 大連市科技局高層次人才創(chuàng )新項目(2020RQ013)資助
Event-triggered Cooperative Path Following of Multiple Autonomous Underwater Vehicles
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College of Marine Engineering, Dalian Maritime University, Dalian 116026
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College of Marine Electrical Engineering, Dalian Maritime University, Dalian 116026
Funds: Supported by National Natural Science Foundation of China (51979020, 51909021, 51939001, 52071044), Top-notch Young Talents Program of China (36261402), Doctoral Scientific Research Program of Liaoning Province (2023-BS-077), Basic Scientific Research Project of Higher Education Department of Liaoning Province (LJKZ0044, LJKQZ2021007), Bolian Research Funds of Dalian Maritime University (3132023616), Open Project of State Key Laboratory of Maritime Technology and Safety (SKLMTA-DMU2024Y3), and Dalian Science and Technology Bureau High-level Talent Innovation Project (2020RQ013)
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摘要: 針對考慮外部海洋環(huán)境擾動(dòng)和內部模型不確定性的多自主水下航行器(Autonomous underwater vehicle, AUV), 研究其在通信資源受限和機載能量受限下的協(xié)同路徑跟蹤控制問(wèn)題. 首先, 針對水聲通信信道窄造成的通信資源受限問(wèn)題, 設計一種基于事件觸發(fā)機制(Event-triggered mechanism, ETM)的協(xié)同通信策略; 然后, 針對模型不確定性和海洋環(huán)境擾動(dòng)問(wèn)題, 設計一種基于事件觸發(fā)機制的線(xiàn)性擴張狀態(tài)觀(guān)測器(Extended state observer, ESO)來(lái)逼近水下航行器的未知動(dòng)力學(xué), 并降低了系統采樣次數; 最后, 針對機載能量受限問(wèn)題, 設計一種基于事件觸發(fā)機制的動(dòng)力學(xué)控制律, 在保證控制精度的前提下, 降低了執行機構的動(dòng)作頻次, 從而節省了能量消耗. 應用級聯(lián)系統穩定性分析方法, 分別驗證了閉環(huán)系統是輸入狀態(tài)穩定的且系統不存在Zeno行為. 仿真結果驗證了所提基于事件觸發(fā)機制的多自主水下航行器協(xié)同路徑跟蹤控制方法的有效性.
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關(guān)鍵詞:
- 自主水下航行器 /
- 事件觸發(fā)機制 /
- 協(xié)同路徑跟蹤 /
- 擴張狀態(tài)觀(guān)測器
Abstract: A cooperative path following problem under limited communication resources and limited energy of multiple under-actuated autonomous underwater vehicles (AUV) subject to external marine environment disturbances and internal model uncertainty is considered. Firstly, a cooperative communication strategy based on an event-triggered mechanism (ETM) is proposed to solve the problem of limited communication resources caused by the narrow acoustic communication channel. Secondly, a linear extended state observer (ESO) based on an event-triggered mechanism is designed to deal with the model uncertainty and marine environment disturbance, and the observer is used to approximate the unknown dynamics of the underwater vehicles, such that the sampling times of the system could be reduced. Finally, a kinetic control law based on an event-triggered mechanism is designed to deal with the problem of limited energy, and this control law reduces the action times of the actuators while ensuring control accuracy, such that the energy consumption could be saved. It is proved that the closed loop system is input-to-state stable by using a cascade stability analysis, and Zeno behavior is excluded. The simulation results are given to demonstrate the effectiveness of the proposed event-triggered cooperative path following of multiple autonomous underwater vehicles. -
圖 2 基于事件觸發(fā)的協(xié)同路徑跟蹤控制器結構圖
Fig. 2 Architecture of event-triggered cooperative path following controller
表 1 觸發(fā)次數
Table 1 Triggering times
觸發(fā)內容 事件觸發(fā) 時(shí)間觸發(fā) 采樣
周期
(s)百分比
最大值
(%)AUV1 AUV2 AUV3 AUV$i$
($i$=1, 2, 3)協(xié)同次數($\chi_{i}$) 91 102 124 10 000 0.04 1.24 采樣次數($u_{i}$) 324 352 420 10 000 0.04 4.20 采樣次數($q_{i}$) 286 363 297 10 000 0.04 3.63 執行次數($\tau_{iu}$) 585 592 451 10 000 0.04 5.92 執行次數($\tau_{iq}$) 487 523 553 10 000 0.04 5.53 
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