Event-triggered model-free adaptive control for a class of surface vessels with time-delay and external disturbance via state observer  

作　　者：CHEN Hua SHEN Chao HUANG Jiahui CAO Yuhan 

机构地区：[1]College of Science,Hohai University,Nanjing 210098,China [2]College of Mechanical and Electrical Engineering,Hohai University,Changzhou 213022,China [3]Hohai-Lille College,Hohai University,Nanjing 211100,China

出　　处：《Journal of Systems Engineering and Electronics》2023年第3期783-797,共15页系统工程与电子技术（英文版）

基　　金：supported by the Natural Science Foundation of Jiangsu Province(BK20201159).

摘　　要：This paper provides an improved model-free adaptive control(IMFAC)strategy for solving the surface vessel trajectory tracking issue with time delay and restricted disturbance.Firstly,the original nonlinear time-delay system is transformed into a structure consisting of an unknown residual term and a parameter term with control inputs using a local compact form dynamic linearization(local-CFDL).To take advantage of the resulting structure,use a discrete-time extended state observer(DESO)to estimate the unknown residual factor.Then,according to the study,the inclusion of a time delay has no effect on the linearization structure,and an improved control approach is provided,in which DESO is used to adjust for uncertainties.Furthermore,a DESO-based event-triggered model-free adaptive control(ET-DESO-MFAC)is established by designing event-triggered conditions to assure Lyapunov stability.Only when the system’s indicator fulfills the provided event-triggered condition will the control input signal be updated;otherwise,the control input will stay the same as it is at the last trigger moment.A coordinate compensation approach is developed to reduce the steady-state inaccuracy of trajectory tracking.Finally,simulation experiments are used to assess the effectiveness of the proposed technique for trajectory tracking.

关 键 词：surface vessels event-triggered condition(ETC) discrete-time extended state observer(DESO) model-free adaptive control(MFAC) coordinate compensation 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] U664.82[自动化与计算机技术—控制科学与工程]