基于固定时间滑模干扰观测器的AUVs事件触发编队控制

Event-triggered formation control for AUVs with fixed-time sliding mode disturbance observer

研究多自主水下机器人(AUVs)编队控制过程中存在外部未知扰动、模型参数摄动和节约控制器传输网络能耗的问题,提出一种抗扰动的固定时间相对阈值事件触发编队控制方法.首先,给出自适应固定时间积分滑模干扰观测器(AFISMDO),在固定时间内用来估计系统的复合扰动;其次,基于所设计的AFISMDO,将非线性滤波器引入到反步算法中,解决反步法多次微分求导造成计算量大的问题;然后,为了节约网络传输资源,降低控制器能耗,将相对阈值事件触发机制引入到多AUVs编队控制中,结合虚拟轨迹概念,设计固定时间分布式编队控制器,使得闭环系统是固定时间收敛的,且系统收敛时间仅取决于控制器设计参数,并通过理论推导排除Zeno现象.仿真实验结果表明,所设计的控制器是合理有效的.

This paper studies the problem of unknown external disturbances,model parameter uncertainty,and saving the energy consumption of the controller transmission network of multiple AUVs formation control,and proposes an anti-disturbance fixed-time relative threshold event-triggered formation control method.First of all,an adaptive fixedtime integrated sliding mode interference observer(AFISMDO)is presented,which is used to estimate the compound disturbance of the system in a fixed time.Based on the designed AFISMDO,a nonlinear filter is introduced into the backstepping algorithm to solve the problem of a large amount of calculation caused by multiple differential derivations in the design of a backstepping method.Then,in order to save network transmission resources and reduce controller energy consumption,the relative threshold event-triggered mechanism is introduced into the formation control of multiple AUVs,combined with the concept of virtual trajectory,and a fixed-time distributed formation control method is designed.The presented controller makes the closed-loop system converge in a fixed time,and the system convergence time only depends on the controller design parameters,and the Zeno phenomenon is excluded through theoretical derivation.Finally,the simulation experiment results show that the designed controller is reasonable and effective.