| 引用本文: | 王锐,司昌龙,马慧,郝程鹏.不对称欠驱动水面机器人事件触发全局渐近镇定控制[J].控制理论与应用,2021,38(6):748~756.[点击复制] |
| WANG Rui,SI Chang-long,MA Hui,HAO Cheng-peng.Event-triggered global asymptotic stabilization of asymmetrical under-actuated surface vessels[J].Control Theory and Technology,2021,38(6):748~756.[点击复制] |
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| 不对称欠驱动水面机器人事件触发全局渐近镇定控制 |
| Event-triggered global asymptotic stabilization of asymmetrical under-actuated surface vessels |
| 摘要点击 1913 全文点击 760 投稿时间：2020-07-29 修订日期：2020-11-20 |
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| DOI编号 10.7641/CTA.2020.00487 |
| 2021,38(6):748-756 |
| 中文关键词 事件触发控制 欠驱动水面机器人 全局渐近镇定控制 时变反馈 坐标变换 |
| 英文关键词 event-triggered control under-actuated surface vessels global asymptotic stabilization time-varying feedback coordinate transformations |
| 基金项目 国家自然科学基金项目(61971412), 中国科学院国防科技重点实验室基金项目(E029150101)资助. |
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| 中文摘要 |
| 本文研究了不对称欠驱动水面机器人事件触发全局渐近镇定控制问题. 首先, 引入坐标变换将系统全局渐
近镇定控制问题转化为变换后模型欠驱动子系统的全局渐近镇定控制问题, 利用周期时间函数构造时变辅助变量
提出了一种时变连续的镇定控制律, 并结合切换门限事件触发机制设计实际的事件触发推力与力矩控制输入使闭
环系统全局渐近稳定. 所提出的方法仅在系统满足触发条件时对控制器进行更新, 能够节约系统资源以及减少执行
器操纵次数, 同时不会降低原有的控制品质. 最后, 通过仿真验证了所提出方法的有效性. |
| 英文摘要 |
| The event-triggered global asymptotic stabilization problem of asymmetrical under-actuated surface vessels
is addressed in this paper. First, the problem is converted to globally asymptotically stabilizing an under-actuated subsystem
of the transformed model by introducing two coordinate transformations. A periodic time function is then applied to construct
two auxiliary variables to derive a time-varying continuous stabilization control law. By combining with a switching
threshold event-triggering mechanism, the actual event-triggered force and moment control inputs are designed to make
the closed-loop system globally asymptotically stable. The proposed method updates the controller only when the triggering
conditions are satisfied, thus the system resources are saved and the times for actuator changes are reduced without
degrading the performance of the controller. Simulation results illustrate the effectiveness of the proposed method. |