摘要
针对具有不确定动态和未知时变海洋环境扰动的欠驱动自主水下机器人(autonomous underwater vehicles, AUVs),提出一种基于事件触发通信机制的分布式固定时间三维编队控制方案.首先设计一种固定时间扰动观测器估计AUV不确定动态和未知时变海洋环境扰动组成的集总扰动,且观测器估计误差在固定调节时间内收敛到零;建立事件触发通信机制,降低多AUV之间的通信频率,节约通信资源;进一步,基于上述固定时间扰动观测器和事件触发通信机制,融合动态面控制技术和固定时间控制理论,设计分布式事件触发固定时间三维编队控制律.现有的固定时间扰动观测器和控制律均有两个幂次项,所设计的固定时间扰动观测器和固定时间编队控制律仅保留收敛速度较快的幂次项,可降低参数调节难度.理论分析表明,所设计的编队控制律能使多欠驱动AUV在固定调节时间内实现三维编队控制,仿真和比较结果验证了所提出控制方案的有效性和优越性.
This paper proposes an event-triggered communication mechanism-based distributed fixed-time threedimension(3-D)formation control scheme of underactuated autonomous underwater vehicles(AUVs)in the presence of uncertain dynamics and unknown time-varying ocean environmental disturbances.Firstly,a fixed-time disturbance observer(FxTDO)is designed to estimate the compound disturbances lumped by the uncertain dynamics and unknown time-varying ocean environmental disturbances,and the estimation errors of the FxTDO will converge to zero within a fixed settling time.By constructing an event-triggered communication mechanism,the communication frequency between AUVs is reduced and the communication resources of the network are saved.Furthermore,based on the above FxTDO and event-triggered communication mechanism,a distributed event-triggered fixed-time 3-D formation control law is designed by synthesizing the dynamic surface control technique and fixed-time control theory.Both the existing fixed-time disturbance observers and control laws have two power terms,and the designed FxTDO and fixed-time formation control law only retain the power terms with faster convergence rate to reduce the difficulty of parameter adjustment.Theoretical analysis indicates that the designed control law enables AUVs to achieve the desired 3-D formation control within a fixed settling time.Simulation and comparison results verify the effectiveness and superiority of the proposed control scheme.
作者
王静耀
杜佳璐
WANG Jing-yao;DU Jia-lu(School of Marine Electrical Engineering,Dalian Maritime University,Dalian 116026,China)
出处
《控制与决策》
北大核心
2025年第1期231-241,共11页
Control and Decision
基金
国家自然科学基金项目(52371362)。
关键词
欠驱动自主水下机器人
三维编队
固定时间控制
固定时间扰动观测器
动态面控制
underactuated autonomous underwater vehicles
three-dimension formation
fixed-time control
fixed-time disturbance observer
dynamic surface control
