事件触发通信下多ASV自适应滑模容错编队控制  

Adaptive sliding mode fault-tolerant formation control of multi-ASV via event-triggered technology

作　　者：李云云 于双和 胡明月 阎妍 赵颖 LI Yunyun;YU Shuanghe;HU Mingyue;YAN Yan;ZHAO Ying(College of Marine Electrical Engineering,Dalian Maritime University,Dalian 116026,China)

机构地区：[1]大连海事大学船舶电气工程学院,辽宁大连116026

出　　处：《扬州大学学报（自然科学版）》2020年第6期65-72,共8页Journal of Yangzhou University：Natural Science Edition

基　　金：国家自然科学基金资助项目(62073054,62003070);中国博士后科学基金资助项目(2020M680037,2020M680930);中央高校基本科研业务费专项资金资助项目(3132020107).

摘　　要：针对输入饱和条件下考虑执行器故障的多自主水面船领航跟随编队问题,在事件触发通信方式下,提出了一种自适应滑模控制方法.首先,对未知海洋扰动,应用扰动观测器,实现固定时间内对扰动的精确估计;其次,提出一种带自适应机制的滑模容错控制协议,并引入事件触发通信策略,在考虑执行器饱和与执行器故障时,应用Lyapunov稳定性理论,推导出能实现一致性编队的充分条件,进一步证明触发策略可以降低系统状态更新频率并且避免产生Zeno行为;最后,通过MATLAB仿真试验验证了理论结果的有效性.This paper investigates a leader-follower consensus formation problem of multi-autonomous surface vehicles(ASV)in the presence of input saturationconstraint and actuator fault by an event-triggered sliding mode control.First,a fixed time disturbance observer is proposed to accurately estimateunknown ocean disturbances.Then,novel event-triggered sliding mode fault-tolerant control protocol with adaptive mechanism is proposed,and anevent-triggered communication strategy is introduced to derive sufficient conditions that can achieve consensus formation by applying Lyapunov stabilitytheory when both actuator saturation and fault are considered.It is further proved that trigger strategy can reduce the frequency of system statusupdate and avoid Zeno phenomenon.Finally,the validity of the proposed theoretical results is verified by MATLAB simulation.

关 键 词：ASV一致性编队 扰动观测器 滑模控制 事件触发 执行器饱和 执行器故障 

分 类 号：U664.82[交通运输工程—船舶及航道工程]