基于事件触发控制的欠驱动地面车辆分布式编队跟踪控制

IF 1.7 4区计算机科学 Q3 AUTOMATION & CONTROL SYSTEMS

Transactions of the Institute of Measurement and Control Pub Date : 2023-07-16 DOI:10.1177/01423312231185623

Xiaoming Xia, Changwei Xia, Chuanguang Sun

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引用次数: 0

摘要

研究了欠驱动水面舰船的分布式编队跟踪控制问题。模型不确定性和外部扰动引起的不确定性假设为未知。提出了一个事件触发扰动观测器(ETDO)来提供不确定性的估计，并使用事件触发机制来确定何时必须将测量到的速度信息发送给观测器。基于回溯技术、动态曲面控制和观测器设计了事件触发控制器(ETC)。给出了分布式编队控制系统的稳定性分析，证明了所有信号都是有界的。仿真验证了所提出的控制策略。

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Distributed formation tracking control of underactuated surface vehicles based on event-trigged control

In this paper, a distributed formation tracking control problem is investigated for underactuated surface vessels (USVs). The uncertainties induced by model uncertainties and external disturbances are assumed to be unknown. An event-trigged disturbance observer (ETDO) is proposed to provide the estimations of the uncertainties, and an event-triggered mechanism is used to determine when measured velocity information must be sent to the observer. An event-trigged controller (ETC) is designed based on a backstepping technique, dynamic surface control, and the observer. Stability analysis of distributed formation control system is given to prove all signals are bounded. Simulations demonstrate the proposed control strategy.

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来源期刊

Transactions of the Institute of Measurement and Control 工程技术-仪器仪表

CiteScore

4.10

自引率

16.70%

发文量

203

审稿时长

3.4 months

期刊介绍： Transactions of the Institute of Measurement and Control is a fully peer-reviewed international journal. The journal covers all areas of applications in instrumentation and control. Its scope encompasses cutting-edge research and development, education and industrial applications.