不对称欠驱动水面机器人事件触发全局渐近镇定控制

Event-triggered global asymptotic stabilization of asymmetrical under-actuated surface vessels

本文研究了不对称欠驱动水面机器人事件触发全局渐近镇定控制问题.首先,引入坐标变换将系统全局渐近镇定控制问题转化为变换后模型欠驱动子系统的全局渐近镇定控制问题,利用周期时间函数构造时变辅助变量提出了一种时变连续的镇定控制律,并结合切换门限事件触发机制设计实际的事件触发推力与力矩控制输入使闭环系统全局渐近稳定.所提出的方法仅在系统满足触发条件时对控制器进行更新,能够节约系统资源以及减少执行器操纵次数,同时不会降低原有的控制品质.最后,通过仿真验证了所提出方法的有效性.

The event-triggered global asymptotic stabilization problem of asymmetrical under-actuated surface vessels is addressed in this paper.First,the problem is converted to globally asymptotically stabilizing an under-actuated subsystem of the transformed model by introducing two coordinate transformations.A periodic time function is then applied to construct two auxiliary variables to derive a time-varying continuous stabilization control law.By combining with a switching threshold event-triggering mechanism,the actual event-triggered force and moment control inputs are designed to make the closed-loop system globally asymptotically stable.The proposed method updates the controller only when the triggering conditions are satisfied,thus the system resources are saved and the times for actuator changes are reduced without degrading the performance of the controller.Simulation results illustrate the effectiveness of the proposed method.