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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

王浩亮 柴亚星 王丹 刘陆 王安青 彭周华

王浩亮, 柴亚星, 王丹, 刘陆, 王安青, 彭周华. 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. 自动化学报, 2022, 45(x): 1001−1011 doi: 10.16383/j.aas.c211163
引用本文: 王浩亮, 柴亚星, 王丹, 刘陆, 王安青, 彭周华. 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. 自动化学报, 2022, 45(x): 1001−1011 doi: 10.16383/j.aas.c211163
Wang Hao-Liang, Chai Ya-Xing, Wang Dan, Liu Lu, Wang An-Qing, Peng Zhou-Hua. Event-triggered cooperative path following of multiple autonomous underwater vehicles. Acta Automatica Sinica, 2022, 45(x): 1001−1011 doi: 10.16383/j.aas.c211163
Citation: Wang Hao-Liang, Chai Ya-Xing, Wang Dan, Liu Lu, Wang An-Qing, Peng Zhou-Hua. Event-triggered cooperative path following of multiple autonomous underwater vehicles. Acta Automatica Sinica, 2022, 45(x): 1001−1011 doi: 10.16383/j.aas.c211163

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

doi: 10.16383/j.aas.c211163
基金项目: 国家自然科学基金(51979020, 51909021, 51939001, 52071044), 国家青年拔尖人才计划(36261402), 辽宁省教育厅高等学校基本科研项目(LJKZ0044, LJKQZ2021007), 辽宁省兴辽英才计划 (XLYC2007188)和大连市科技局高层次人才创新项目支持计划(2020RQ013)
详细信息
    作者简介:

    王浩亮:大连海事大学轮机工程学院副教授. 2021年获得大连海事大学船舶电气工程专业博士学位.主要研究方向为无人水下航行器路径规划和协同路径跟踪控制研究. E-mail: haoliang.wang12@dlmu.edu.cn

    柴亚星:大连海事大学轮机工程硕士研究生. 2018年获得南阳理工学院测控技术与仪器专业学士学位.主要研究方向为无人水下航行器协同路径跟踪. E-mail: yaxingchai@dlmu.edu.cn

    王丹:大连海事大学船舶电气工程学院教授. 2001年获得香港中文大学哲学博士学位.主要研究方向为控制理论及其在海洋航行器中的应用. 本文通信作者. E-mail: dwang@dlmu.edu.cn

    刘陆:大连海事大学船舶电气工程学院副教授. 2018年获得大连海事大学船舶电气工程专业博士学位.主要研究方向为多水面船制导与控制. E-mail: luliu@dlmu.edu.cn

    王安青:大连海事大学船舶电气工程学院副教授. 2020年获得香港城市大学和哈尔滨工业大学控制科学与工程博士学位. 主要研究方向为不确定非线性系统, 事件触发控制与协同控制. E-mail: anqingwang@dlmu.edu.cn

    彭周华:大连海事大学船舶电气工程学院教授. 2011年获得大连海事大学控制理论与控制工程博士学位.主要研究方向为多无人船集群协同控制. E-mail: zhpeng@dlmu.edu.cn

Event-triggered Cooperative Path Following of Multiple Autonomous Underwater Vehicles

Funds: Supported by National Natural Science Foundation of China (51979020, 51909021, 51939001, 52071044), Top-notch Young Talents Program of China (36261402), Basic Scientific Research Project of Higher Education Department of Liaoning Province (LJKZ0044, LJKQZ2021007), Liaoning Revitalization Talents Program (XLYC2007188), and Dalian Science and Technology Bureau High-level Talent Innovation Project Support Program (2020RQ013)
More Information
    Author Bio:

    WANG Hao-Liang Associate professor at the Marine Engineering College, Dalian Maritime University. He received his Ph.D. degree in marine electrical engineering from Dalian Maritime University in 2021. His research interest covers path planning and cooperative path following of multiple autonomous underwater vehicles

    CHAI Ya-Xing Master student at the Marine Engineering College, Dalian Maritime University. She received her bachelor degree in measurement and control technology and instruments from Nanyang Institute of Technology in 2018. Her research interest covers cooperative path following of multiple autonomous underwater vehicles

    WANG Dan  Professor at the Marine Electrical Engineering College, Dalian Maritime University. He received his Ph.D. degree in philosophy from The Chinese University of Hong Kong in 2001. His research interest covers control theory and its applications in marine vehicles. Corresponding author of this paper

    LIU Lu  Associate professor at the Marine Electrical Engineering College, Dalian Maritime University. She received her Ph.D. degree in marine electrical engineering from Dalian Maritime University in 2018. Her research interest covers guidance and control of multiple marine surface vehicles

    WANG An-Qing Associate professor at the Marine Electrical Engineering College, Dalian Maritime University. She received her Ph.D. degree in control science and engineering from City University of Hong Kong and Harbin Institute of Technology in 2020. Her research interest covers uncertain nonlinear systems, event-triggered control and cooperative control

    PENG Zhou-Hua Professor at the Marine Electrical Engineering College, Dalian Maritime University. He received his Ph.D. degree in control theory and control engineering from Dalian Maritime University in 2011. His research interest covers cooperative control of multiple unmanned surface vehicles

  • 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个欠驱动自主水下航行器, 研究了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, 设计了一种基于事件触发机制的协同通信策略; 其次, 针对模型不确定性和海洋环境扰动问题, 设计了一种基于事件触发机制的线性扩张状态观测器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, 设计了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, 分别证明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.
  • 图  1  纵平面参考坐标系

    Fig.  1  Vertical plane reference coordinate system

    图  2  基于事件触发的协同路径跟踪控制框图

    Fig.  2  Architecture of event-triggered cooperative path following controller

    图  3  协同路径跟踪性能

    Fig.  3  Cooperative path following performance

    图  10  AUV1的控制输入触发事件

    Fig.  10  Control input triggering events of AUV1

    图  4  路径参数$\chi_{i}$

    Fig.  4  Path variables $\chi_{i}$

    图  5  纵平面内协同路径误差

    Fig.  5  Cooperative path following errors in vertical plane

    图  6  速度估计效果

    Fig.  6  Speed estimation effect

    图  7  扰动估计$f_{1u}$$f_{1q}$

    Fig.  7  Disturbance estimation of $f_{1u}$$f_{1q}$

    图  8  通信触发事件

    Fig.  8  Communication triggering events

    图  9  AUV1的速度触发事件

    Fig.  9  Speed triggering events of AUV1

    表  1  触发次数

    Table  1  Triggering times

    触发内容 事件触发 时间触发 采样
    周期(s)
    最大百分
    比(%)
    AUV1 AUV2 AUV3 AUV$i$($i$=1,2,3)
    协同次数($\chi_{i}$) 91 102 124 10 000 0.04 1.24
    采样次数($u_{i}$) 324 352 420 10 000 0.04 4.20
    采样次数($q_{i}$) 286 363 297 10 000 0.04 3.63
    执行次数($\tau_{iu}$) 585 592 451 10 000 0.04 5.92
    执行次数($\tau_{iq}$) 487 523 553 10 000 0.04 5.53
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  • 收稿日期:  2021-12-07
  • 录用日期:  2022-06-23
  • 网络出版日期:  2022-09-26

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