网络环境下无人艇定位系统的主动容错控制  

Active Fault-tolerant Control of Unmanned Surface Vehicles Positioning System in Network Environment

作　　者：朱可嘉 周子天 王友清 ZHU Kejia;ZHOU Zitian;WANG Youqing(School of Electrical and Automation Engineering,Shandong University of Science and Technology,Qingdao 266590,China)

机构地区：[1]山东科技大学电气与自动化工程学院,山东青岛266590

出　　处：《控制工程》2023年第6期969-980,共12页Control Engineering of China

基　　金：青岛创业创新领军人才计划资助项目(19-3-2-4-zhc)。

摘　　要：为了更好地解决水面无人艇自行运作时的故障,以通信网络环境下的水面无人艇(unmanned surface vehicle,USV)为研究对象,设计了故障观测器和容错控制器。根据通信网络的特性,设计了事件驱动反馈策略、无人艇的控制输入和观测器的输入,使得双通道网络波动形成的多个时延项的延迟时间保持一致,保证了观测器具有与无人艇相同的控制输入,从而极大地降低了设计复杂度。通过分析水面无人艇位置定位系统的动力学方程,以及所设计的事件驱动规则,建立了网络环境下的无人艇位置定位系统的T-S(TakagiSugeno)模糊模型。并针对无人艇位置定位系统中存在的传感器与执行器故障,设计了状态与故障估计观测器、容错控制器,可使水面无人艇位置定位系统对传感器故障与执行器故障都具有一定的容错能力,并通过仿真实验验证了所设计算法的有效性。In order to better solve the surface unmanned boat operating when the fault,unmanned surface vehicle(USV) in communication network environment was used as the research plant,and a fault observer and fault tolerant controller were designed.According to the characteristics of the communication network,the event-driven feedback strategy,the control input of the unmanned boat and the observer input are designed,so that the delay time of multiple delay terms formed by the fluctuation of the two-channel network is consistent,which ensures that the observer has the same control input as the unmanned boat,thus greatly reducing the design complexity.By analyzing the dynamics equation of the position positioning system of surface unmanned craft and the designed event-driven rules,the T-S fuzzy model of the position positioning system of surface unmanned craft in the network environment is established.The state and fault estimation observer and fault tolerance controller are designed for the sensor and actuator faults in the position positioning system of the unmanned boat,which can make the unmanned boat has certain fault tolerance ability for both sensor faults and actuator faults.The effectiveness of the designed algorithm is verified by simulation experiments.

关 键 词：水面无人艇 网络控制系统 故障估计 容错控制 时延 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]