Fixed-time Formation of AUVs Based on Event-triggered Control

被引：0
|
作者：
Wang H.-B. [1 ,2 ]
Gao J. [1 ,2 ]
Su B. [1 ,2 ]
Wang Y.-L. [1 ,2 ]
机构：
[1] School of Electrical Engineering, Yanshan University, Qinhuangdao
[2] Key laboratory of Industrial Computer Control Engineering of Hebei Province, Yanshan University, Qinhuangdao
来源：
Zidonghua Xuebao/Acta Automatica Sinica | 2022年 / 48卷 / 09期
基金：
中国国家自然科学基金;
关键词：
dynamic surface control; event-triggered; fixed-time control; leader-follower method; Multi-autonomous underwater vehicles;
D O I：
10.16383/j.aas.c190816
中图分类号：
学科分类号：
摘要：
In this paper, the limited communication resources and slow convergence speed of multi-autonomous underwater vehicles formation system are considered, a fixed-time leader-follower formation control method of autonomous underwater vehicles with event-triggered mechanism is proposed. Firstly, by combining dynamic surface control with backstepping technique, the algorithm can overcome the “explosion of complexity” problem. Secondly, in order to save communication resources, the formation controller is designed by combining the event-triggered control strategy and the fixed-time theory. Thus, the target of formation is stable in fixed-time and the convergence time of system is independent of the initial state, and the theory is used to prove that there is no Zeno behavior. Finally, in order to verify the validity of algorithm, the formation experiment of four autonomous underwater vehicles is studied by simulation. © 2022 Science Press. All rights reserved.
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页码：2277 / 2287
页数：10
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