具有状态约束的AUV固定时间抗干扰控制

Fixed-time anti-interference control of AUV with state constraints

中文关键词  自主水下机器人  固定时间控制  干扰观测器  事件触发机制  状态约束

英文关键词  autonomousunderwatervehicle  fixed-time control  disturbance observer  event-triggered mechanism  state constraints

中文摘要

      针对具有状态约束、模型参数不确定、通信资源受限和外界未知时变干扰的自主水下机器人(AUV)的轨迹 跟踪问题,本文提出了一种基于固定时间干扰观测器的事件触发控制方法.首先,基于固定时间稳定理论,利用双 曲正切函数的特性设计干扰观测器,对系统的集总干扰进行估计,使得估计误差在固定时间内收敛.其次,基于所 设计的干扰观测器,提出了一种AUV固定时间抗干扰轨迹跟踪控制方法,使得系统的跟踪误差在固定时间内收敛. 同时,为了减少系统对通信资源的占用,在控制方法的设计中,引入了相对阈值的事件触发机制.最后,通过仿真实 验验证了该方法的有效性.

英文摘要

      Aiming at the trajectory tracking problem of autonomous underwater vehicle (AUV) with state constraints, uncertain model parameters, limited communication resources, and unknown external time-varying disturbances, an event triggered control method based on a fixed-time disturbance observer is proposed. Firstly, based on the fixed-time stability theory, the disturbance observer is designed by using the properties of hyperbolic tangent function to estimate the lumped disturbances of the system, so that the estimation error converges in fixed time. Secondly, based on the designed disturbance observer, an AUV fixed-time anti-interference trajectory tracking control method is proposed, so that the tracking error of the system converges in fixed time. Meanwhile, in order to reduce the occupation of communication resources by the system, a relative threshold event triggering mechanism is introduced in the design of the control method. Finally, the effectiveness of the method is verified by simulation experiments.