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A Control Method for Underactuated Unmanned Vehicle Based on Event-triggered Scheme and t-s Fuzzy System

An event-triggered, fuzzy system technology, applied in non-electric variable control, two-dimensional position/navigation control, control/regulation systems, etc., can solve problems such as packet loss, network-induced delay, etc. The effect of solving the communication delay and improving the control effect

Active Publication Date: 2021-06-08
WUHAN UNIV OF TECH
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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

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  • A Control Method for Underactuated Unmanned Vehicle Based on Event-triggered Scheme and t-s Fuzzy System
  • A Control Method for Underactuated Unmanned Vehicle Based on Event-triggered Scheme and t-s Fuzzy System
  • A Control Method for Underactuated Unmanned Vehicle Based on Event-triggered Scheme and t-s Fuzzy System

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[0039] In order to make the object, technical solution and advantages of the present invention more clear, the present invention will be further described in detail below in conjunction with the examples. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0040] The purpose of the present invention is to provide an event triggering scheme and a T-S fuzzy control collaborative design method for the underactuated unmanned boat system, and solve the problems of communication delay and network resource limitation under the premise of ensuring the system control performance.

[0041] In order to make the above objects, features and advantages of the present invention more comprehensible, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0042] like figure 1 As shown, an underactuated unmanned...

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Abstract

The invention discloses an underactuated unmanned boat control method based on an event trigger scheme and a T-S fuzzy system, comprising the following steps: 1) establishing a motion model of the underactuated unmanned boat considering the influence of network time delay; 2) Using the T-S method to fuzzify the nonlinear system model to obtain the unmanned vehicle fuzzy system model; 3) Collaborative design of the event trigger scheme and the T-S fuzzy controller, Obtain the final UAV fuzzy system analysis model; 4) According to the global stable linear matrix inequality of the underactuated UAV closed-loop control system, determine the event trigger matrix W of the UAV control system model and the gain matrix K of the controller so that the control The system is stable. The method of the invention can effectively solve the problem of stabilizing the underactuated unmanned boat, and at the same time solve the problems of communication time delay and limited network resources under the premise of ensuring system performance.

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...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 马勇聂宗强
Owner WUHAN UNIV OF TECH
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