基于事件触发的水面无人艇无模型容错饱和控制  

Adaptive model-free fault-tolerant control for unmanned surface vehicle with input saturation and event-triggered mechanism

作　　者：张恩华 王巍凯 苏玉民[1,2] ZHANG Enhua;WANG Weikai;SU Yumin(Science and Technology on Underwater Vehicle Laboratory,Harbin Engineering University,Harbin 150001,China;College of Shipbuilding Engineering,Harbin Engineering University,Harbin 150001,China)

机构地区：[1]哈尔滨工程大学水下机器人技术重点实验室,黑龙江哈尔滨150001 [2]哈尔滨工程大学船舶工程学院,黑龙江哈尔滨150001

出　　处：《哈尔滨工程大学学报》2024年第10期1865-1872,共8页Journal of Harbin Engineering University

摘　　要：针对外界未知扰动、无人艇模型动态参数无法获取、推进器饱和及故障水面无人艇轨迹跟踪控制问题,本文提出一种基于事件触发的水面无人艇无模型饱和容错控制方法。利用无模型参数滑模控制结构,使参数误差收敛至残差集。该方法对参数变化具有良好的鲁棒性能。控制器中引入饱和函数及容错方法来补偿由于执行机构故障和饱和所产生的推力损失。为节约有限的通信资源和系统能量,在执行机构和控制器之间部署事件触发机制,采用事件触发通讯机制产生分段控制信号,降低执行机构的更新频率。仿真结果表明所提出基于事件触发的饱和容错方法能够使跟踪误差和速度误差收敛至可容许范围内,证明所提算法的优越性和可靠性。This paper studies an adaptive event-triggered control method for unmanned surface vehicle(USV)in presence of unknown model parameters and external disturbance.Firstly,a totally model-free sliding mode control architecture is exploited to force the tracking errors converging tot a residual set,which implies that the proposal will possess desirable robustness to parameter variations.Then,the designed controller is combined with saturation function and fault-tolerant method to compensate the lost torque caused by actuator failure and saturation.Thereafter,in order to save limited communication resources and system energy,event-triggered mechanism is deployed between actuators and controllers,so that generate segmented control signals and reduce the updating frequency of actuators.Finally,theoretical analysis and numerical simulations are provided to illustrate the effectiveness and superiority of the proposed controller.

关 键 词：水面无人艇 事件触发 容错控制 无模型控制 输入饱和 滑膜控制 轨迹跟踪控制 自适应控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]