Event trigger scheme and T-S fuzzy system based under-actuated unmanned surface vehicle control method

Abstract

The invention discloses an event trigger scheme and T-S fuzzy system based under-actuated unmanned surface vehicle control method. The method comprises the following steps of 1) establishing a motionmodel of an under-actuated unmanned surface vehicle under the condition of considering influence of network delay, and obtaining a nonlinear system model of the under-actuated unmanned surface vehicleaccording to the motion model; 2) fuzzifying the nonlinear system model by a T-S method to obtain an unmanned surface vehicle fuzzy system model; 3) cooperatively designing an event trigger scheme and a T-S fuzzy controller to obtain a final unmanned surface vehicle fuzzy system analysis model; and 4) according to a linear matrix inequality of global stabilization of an under-actuated unmanned surface vehicle closed-loop control system globally stable, determining an event trigger matrix W of an unmanned surface vehicle control system model and a gain matrix K of the controller to stabilize the control system. The method is capable of effectively solving the stabilization control problem of the under-actuated unmanned surface vehicle, and meanwhile, on the premise of ensuring the system performance, the problems of communication delay and network resource limitation are solved.

Description

technical field [0001] The invention relates to the motion control technology of an unmanned boat, in particular to an underactuated unmanned boat control method based on an event trigger scheme and a T-S fuzzy system. Background technique [0002] The development of information technology, network technology and artificial intelligence makes ship intelligence become the mainstream trend in the future. Unmanned driving and intelligent control are important foundations for realizing ship intelligence. The global stability control problem of underactuated unmanned vehicles, because of its challenging and wide practical application in the field of navigation, underactuated unmanned vehicles refers to relying only on longitudinal thrust and steering torque (freedom of control) in the absence of lateral thrust. degrees less than the degrees of freedom of motion) is a class of ships whose motion is controlled. [0003] In order to ensure the high precision and reliability of the...

AI Technical Summary

Problems solved by technology

Since the introduction of the communication network will inevitably produce problems such as network-induced delay and data packet loss, it is important to design an unmanned vehicle controller that can deal with communication delay and system nonlinearity. one of the contents

Images