基于动态事件触发策略的多AUV一致控制

Consensus Control of Multi-AUVs Based on a Dynamic Event-triggered Strategy

针对多个自主水下机器人(AutonomousUnderwaterVehicles,AUVs)编队问题,为了减少多AUV频繁通信造成的能量消耗,提出一种基于分布式动态事件触发的领导者-跟随者一致控制算法.设计一个包含广义位置和载体速度的辅助变量简化AUV模型.同时基于滑模变结构控制、一致性理论及动态事件触发策略,设计了分布式编队控制器,保证系统在存在外部扰动的情况下可实现一致控制目标.证明了所提出的控制算法没有Zeno现象.数值仿真验证了所提出定理的正确性和控制算法的有效性.

This paper considers the formation problem for a group of autonomous underwater vehicles(AUVs).In order to reduce the energy consumption of communications among AUVs,a distributed dynamic event-triggered leader-follower consensus control strategy is proposed.First,we design an auxiliary variable that includes general⁃ized position and carrier speed,which simplifies the AUV model.Based on sliding mode variable structure control,consistency theory,and dynamic event-triggered strategy,a distributed formation controller is designed.The control⁃ler ensures that the AUV system can achieve the formation goal in the presence of external disturbances.Second,no Zeno behavior is exhibited under the proposed control algorithm.Last,numerical simulation results are provided to verify the correctness of the presented theorem and the effectiveness of the proposed control algorithm.