考虑执行器故障的无人帆船事件触发控制

doi:10.12305/j.issn.1001-506X.2022.01.30

Abstract

Abstract:

Aiming at the heading control problem for the unmanned sailboat with the unknown model parameters, the chattering frequently of control input and the actuator wear under the practical marine environment, an event-triggered control algorithm with the actuator failures is proposed. Firstly, the radius based function neural networks (RBF-NNs) is introduced to approximated online the unknown model parameters of the system. Secondly, the actuator failure model is introduced into the heading mathematical model of unmanned sailboat, and the turning torque caused by sail structure is considered in the design of heading controller. A heading control law based on event triggering mechanism is designed to reduce the frequent chattering of control input and actuator wear. Finally, through the Lyapunov stability criterion, it is proved that the proposed control algorithm satisfies semi-global uniform ultimate bounded (SGUUB) stability. Numerical simulation results show that compared with the traditional heading control algorithm, the proposed algorithm can greatly reduce the frequent chattering of control input and the wear of actuator on the basis of ensuring the heading control performance.

Key words: unmanned sailboat, radius based function neural networks (RBF-NNs), actuator failures, event-triggered control

CLC Number:

U664

Jiqiang LI, Guoqing ZHANG, Chenfeng HUANG, Weidong ZHANG. Event-triggered control for unmanned sailboat with actuator failures[J]. Systems Engineering and Electronics, 2022, 44(1): 242-249.

Figures/Tables 11

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References 30

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指标	对象	本文算法	文献[7]算法	文献[12]算法
MATE	Ψ_e/(°)	1.064	1.538	3.936
MACI	δ_R/(°)	10.673	11.028	1.483
MCIV	δ_R/(°)	0.725	2.583	2.016

指标	本文算法	文献[7]算法	文献[12]算法
CM/kB	211 793	406 285	392 618
UP/%	14	31	30
TN	582	20 000	20 000

Event-triggered control for unmanned sailboat with actuator failures

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