摘要
针对欠驱动自主水下航行器(AUV)的水平轨迹跟踪控制及控制器频繁更新导致的执行器损失问题,提出基于滑模控制方法和事件触发机制下的自主水下航行器轨迹跟踪控制算法。首先,利用滑模控制方法设计控制器以稳定位置跟踪误差;其次,引入事件触发机制,在控制器到执行器的通道中设计事件触发条件来降低控制器更新频率,并运用Lyapunov稳定性定理证明设计的事件触发控制器能使系统保持稳定,避免系统产生Zeno现象。仿真表明,浪涌和偏航控制器在200 s内一共触发414和767次,与传统周期采样控制器连续采用4000次的效果相同。
Aiming at the problem of actuator loss caused by horizontal trajectory tracking control and frequent controller updates of underactu-ated autonomous underwater vehicles(AUVs),a trajectory tracking control algorithm for autonomous underwater vehicles based on sliding mode control method and event triggering mechanism is proposed.Firstly,design a controller using sliding mode control method to stabilize po-sition tracking error;Then,an event triggering mechanism is introduced,and event triggering conditions are designed in the channel from the controller to the actuator to reduce the update frequency of the controller.The Lyapunov stability theorem is used to prove that the designed event triggered controller can keep the system stable and avoid Zeno phenomenon.Simulation shows that the surge and yaw controllers trigger a total of 414 and 767 times within 200 seconds,which is similar to the effect of using a traditional periodic sampling controller 4000 times con-tinuously.
作者
吕张飞
赵中原
LYU Zhangfei;ZHAO Zhongyuan(College of Automation,Nanjing University of Information Science and Technology,Nanjing 210044,China)
出处
《软件导刊》
2024年第6期98-104,共7页
Software Guide
基金
江苏省自然科学基金项目(BK20200824)
南京信息工程大学人才启动经费(2019r082)。
关键词
自主水下航行器
轨迹跟踪
滑模控制
事件触发
autonomous underwater vehicle
track tracking
sliding mode control
event triggered
