事件触发策略下多AUV抗干扰固定时间编队控制

Anti-disturbance fixed-time formation control of multi-AUVs via event-triggered strategy

中文关键词  干扰观测器  编队控制  事件触发机制  虚拟领航–跟随法  固定时间控制

英文关键词  disturbance observer  formation control  event-triggered mechanism  virtual leader-follower method  fixedtime control

中文摘要

      针对多AUV编队控制的模型参数不确定及未知海流干扰的问题, 提出基于固定时间模糊干扰观测器的事 件触发编队控制方法, 该方法可保证编队控制在固定时间内收敛. 首先, 构造了固定时间模糊干扰观测器处理系统 的集总扰动, 实现固定时间内对扰动的精确估计. 在扰动观测器的基础上, 将指令滤波器与反步法结合, 消除了多次 求导产生的计算爆炸问题; 其次, 为了降低网络传输资源能耗, 将事件触发机制引入多AUV编队控制中, 设计具有 固定时间收敛性能的分布式编队控制器, 且系统收敛时间仅取决于控制器设计参数, 并经理论证明无Zeno行为; 最 后通过多AUVs编队仿真实验, 证明了所提出算法的有效性和合理性.

英文摘要

      To tackle with the problem of model parameter uncertainty and external disturbance of multi-AUVs formation control, an event-triggered formation strategy based on fixed-time fuzzy disturbance observer is developed, which can ensure formation control converges within a fixed time. First of all, fixed time fuzzy disturbance observer is constructed to approximate compound disturbance accurately. Based on the disturbance observer, this method combines with command filter and the back-stepping theory, which is borrowed to remove large amount of calculation caused by repeated derivative. Secondly, the event trigger mechanism is introduced into the multi-AUVs formation control for the purpose of saving network transmission resources and reduce controller transmission energy consumption. The distributed formation controller with fixed time convergence performance is designed, and the system convergence time is related to the controller design parameters. Finally, the effectiveness and rationality of the designed algorithm are proved by the multi-AUVs formation simulation experiment.