基于事件触发的AUVs固定时间编队控制  

Fixed-time Formation of AUVs Based on Event-triggered Control

作　　者：王洪斌[1,2] 高静 苏博[1,2] 王跃灵 WANG Hong-Bin;GAO Jing;SU Bo;WANG Yue-Ling(School of Electrical Engineering,Yanshan University,Qinhuangdao 066004;Key laboratory of Industrial Computer Control Engineering of Hebei Province,Yanshan University,Qinhuangdao 066004)

机构地区：[1]燕山大学电气工程学院,秦皇岛066004 [2]燕山大学工业计算机控制工程河北省重点实验室,秦皇岛066004

出　　处：《自动化学报》2022年第9期2277-2287,共11页Acta Automatica Sinica

基　　金：国家自然科学基金(61473248)资助。

摘　　要：针对多自主水下航行器编队系统受限于有限的通信资源及收敛速度慢等问题,提出一种基于事件触发的自主水下航行器固定时间领航-跟随编队控制方法.首先,将动态面控制算法与反步法结合,消除“计算膨胀”问题;其次,为节约有限通信资源,将事件触发通讯机制和固定时间理论引入多自主水下航行器编队控制中,设计编队控制器,实现编队系统的固定时间稳定,且系统收敛时间与初始状态无关,并通过理论证明无Zeno行为;最后,对4艘自主水下航行器的编队进行仿真实验,验证算法的有效性.In this paper,the limited communication resources and slow convergence speed of multi-autonomous underwater vehicles formation system are considered,a fixed-time leader-follower formation control method of autonomous underwater vehicles with event-triggered mechanism is proposed.Firstly,by combining dynamic surface control with backstepping technique,the algorithm can overcome the“explosion of complexity”problem.Secondly,in order to save communication resources,the formation controller is designed by combining the eventtriggered control strategy and the fixed-time theory.Thus,the target of formation is stable in fixed-time and the convergence time of system is independent of the initial state,and the theory is used to prove that there is no Zeno behavior.Finally,in order to verify the validity of algorithm,the formation experiment of four autonomous underwater vehicles is studied by simulation.

关 键 词：多自主水下航行器 事件触发 领航者-跟随者法 动态面控制 固定时间控制 

分 类 号：U664.82[交通运输工程—船舶及航道工程] TP273[交通运输工程—船舶与海洋工程]