基于事件触发机制的多自主水下航行器协同路径跟踪控制  

Event-triggered Cooperative Path Following of Multiple Autonomous Underwater Vehicles

作　　者：王浩亮[1] 柴亚星 王丹 刘陆 王安青 彭周华 WANG Hao-Liang;CHAI Ya-Xing;WANG Dan;LIU Lu;WANG An-Qing;PENG Zhou-Hua(College of Marine Engineering,Dalian Maritime University,Dalian 116026;College of Marine Electrical Engineering,Dalian Maritime University,Dalian 116026)

机构地区：[1]大连海事大学轮机工程学院,大连116026 [2]大连海事大学船舶电气工程学院,大连116026

出　　处：《自动化学报》2024年第5期1024-1034,共11页Acta Automatica Sinica

基　　金：国家自然科学基金(51979020,51909021,51939001,52071044);国家青年拔尖人才计划(36261402);辽宁省博士科研启动计划(2023-BS-077);辽宁省教育厅高等学校基本科研项目(LJKZ0044,LJKQZ2021007);大连海事大学博联科研基金(3132023616);水路交通控制全国重点实验室开放课题(SKLMTA-DMU2024Y3);大连市科技局高层次人才创新项目(2020RQ013)资助。

摘　　要：针对考虑外部海洋环境扰动和内部模型不确定性的多自主水下航行器(Autonomous underwater vehicle,AUV),研究其在通信资源受限和机载能量受限下的协同路径跟踪控制问题.首先,针对水声通信信道窄造成的通信资源受限问题,设计一种基于事件触发机制(Event-triggered mechanism,ETM)的协同通信策略;然后,针对模型不确定性和海洋环境扰动问题,设计一种基于事件触发机制的线性扩张状态观测器(Extended state observer,ESO)来逼近水下航行器的未知动力学,并降低了系统采样次数;最后,针对机载能量受限问题,设计一种基于事件触发机制的动力学控制律,在保证控制精度的前提下,降低了执行机构的动作频次,从而节省了能量消耗.应用级联系统稳定性分析方法,分别验证了闭环系统是输入状态稳定的且系统不存在Zeno行为.仿真结果验证了所提基于事件触发机制的多自主水下航行器协同路径跟踪控制方法的有效性.A cooperative path following problem under limited communication resources and limited energy of multiple under-actuated autonomous underwater vehicles(AUV)subject to external marine environment disturbances and internal model uncertainty is considered.Firstly,a cooperative communication strategy based on an eventtriggered mechanism(ETM)is proposed to solve the problem of limited communication resources caused by the narrow acoustic communication channel.Secondly,a linear extended state observer(ESO)based on an eventtriggered mechanism is designed to deal with the model uncertainty and marine environment disturbance,and the observer is used to approximate the unknown dynamics of the underwater vehicles,such that the sampling times of the system could be reduced.Finally,a kinetic control law based on an event-triggered mechanism is designed to deal with the problem of limited energy,and this control law reduces the action times of the actuators while ensuring control accuracy,such that the energy consumption could be saved.It is proved that the closed loop system is input-to-state stable by using a cascade stability analysis,and Zeno behavior is excluded.The simulation results are given to demonstrate the effectiveness of the proposed event-triggered cooperative path following of multiple autonomous underwater vehicles.

关 键 词：自主水下航行器 事件触发机制 协同路径跟踪 扩张状态观测器 

分 类 号：U664.82[交通运输工程—船舶及航道工程]