Optimal event-triggered trajectory tracking control for under-actuated autonomous underwater vehicles with adaptive dynamic programming

IF 2.7 4区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Asian Journal of Control Pub Date : 2026-03-09 Epub Date: 2025-04-13 DOI:10.1002/asjc.3671

Xiumei Han, Xiaolu Xu, Xiaofeng Yan, Qiannan Zhang

引用次数: 0

Abstract

In this study, the optimal event-triggered trajectory tracking control problem for under-actuated autonomous underwater vehicles (AUVs) is investigated. First, a virtual velocity control law is designed for the position and attitude tracking error system using the backstepping approach. Next, the velocity tracking error is derived. By integrating the position, attitude, and velocity-tracking errors, a comprehensive tracking error system is constructed, and a corresponding cost function for the system is defined. Then, the optimal event-triggered control law is designed using event-triggered adaptive dynamic programming, employing only a single critic network. The approximation error of the critic network and the stability of the tracking error system are analyzed using Lyapunov theory. Finally, simulation results demonstrate the effectiveness of the proposed optimal event-triggered control law.

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基于自适应动态规划的欠驱动自主水下航行器最优事件触发轨迹跟踪控制

研究了欠驱动自主水下航行器（auv）的最优事件触发轨迹跟踪控制问题。首先，采用回溯法设计了位置姿态跟踪误差系统的虚拟速度控制律；其次，推导了速度跟踪误差。通过对位置、姿态和速度跟踪误差进行积分，构建了综合跟踪误差系统，并定义了相应的代价函数。然后，利用事件触发自适应动态规划设计了最优的事件触发控制律，仅使用单个批评网络。利用李亚普诺夫理论分析了评价网络的逼近误差和跟踪误差系统的稳定性。最后，仿真结果验证了所提出的最优事件触发控制律的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Asian Journal of Control 工程技术-自动化与控制系统

CiteScore

4.80

自引率

25.00%

发文量

253

审稿时长

7.2 months

期刊介绍： The Asian Journal of Control, an Asian Control Association (ACA) and Chinese Automatic Control Society (CACS) affiliated journal, is the first international journal originating from the Asia Pacific region. The Asian Journal of Control publishes papers on original theoretical and practical research and developments in the areas of control, involving all facets of control theory and its application. Published six times a year, the Journal aims to be a key platform for control communities throughout the world. The Journal provides a forum where control researchers and practitioners can exchange knowledge and experiences on the latest advances in the control areas, and plays an educational role for students and experienced researchers in other disciplines interested in this continually growing field. The scope of the journal is extensive. Topics include: The theory and design of control systems and components, encompassing: Robust and distributed control using geometric, optimal, stochastic and nonlinear methods Game theory and state estimation Adaptive control, including neural networks, learning, parameter estimation and system fault detection Artificial intelligence, fuzzy and expert systems Hierarchical and man-machine systems All parts of systems engineering which consider the reliability of components and systems Emerging application areas, such as: Robotics Mechatronics Computers for computer-aided design, manufacturing, and control of various industrial processes Space vehicles and aircraft, ships, and traffic Biomedical systems National economies Power systems Agriculture Natural resources.