Anti-disturbance fixed-time formation control of multi-AUVs via event-triggered strategy

被引：0
|
作者：
Su B. [1 ,2 ]
Wang H.-B. [1 ,2 ]
Gao J. [1 ,2 ]
机构：
[1] College of Electrical Engineering, YanShan University, Qinhuangdao
[2] Key Lab of Industrial Computer Control Engineering of Hebei Province, Yanshan University, Qinhuangdao
来源：
Kongzhi Lilun Yu Yingyong/Control Theory and Applications | 2021年 / 38卷 / 07期
关键词：
Disturbance observer; Event-triggered mechanism; Fixedtime control; Formation control; Virtual leader-follower method;
D O I：
10.7641/CTA.2021.00524
中图分类号：
学科分类号：
摘要：
To tackle with the problem of model parameter uncertainty and external disturbance of multi-AUVs formation control, an event-triggered formation strategy based on fixed-time fuzzy disturbance observer is developed, which can ensure formation control converges within a fixed time. First of all, fixed time fuzzy disturbance observer is constructed to approximate compound disturbance accurately. Based on the disturbance observer, this method combines with command filter and the back-stepping theory, which is borrowed to remove large amount of calculation caused by repeated derivative. Secondly, the event trigger mechanism is introduced into the multi-AUVs formation control for the purpose of saving network transmission resources and reduce controller transmission energy consumption. The distributed formation controller with fixed time convergence performance is designed, and the system convergence time is related to the controller design parameters. Finally, the effectiveness and rationality of the designed algorithm are proved by the multi-AUVs formation simulation experiment. © 2021, Editorial Department of Control Theory & Applications South China University of Technology. All right reserved.
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页码：1113 / 1123
页数：10
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