Model-free control method for unmanned ship based on dynamic event triggering

Abstract

The invention discloses an unmanned ship model-free control method based on dynamic event triggering, and belongs to the technical field of unmanned ship control, and the method specifically comprises the steps: building a USV kinematics and dynamics model, and converting the USV kinematics and dynamics model into an Euler-Lagrange equation; a control law and an adaptive law are designed by utilizing sliding mode variable structure control and an Euler-Lagrange equation so as to construct a dynamic event trigger controller, and a control instruction of the trigger mechanism is updated only when a trigger condition is met; and defining a Lyapunov candidate function to carry out stability analysis on the dynamic event trigger controller, and simultaneously proving that no Zeno phenomenon exists. According to the method, the dependence of a traditional controller on a system model is overcome, the robustness of the system is improved, meanwhile, frequent controller signal updating is avoided, and the calculation cost, the executing mechanism loss and the energy consumption are remarkably reduced.

Description

technical field [0001] The invention relates to the technical field of unmanned boat control, in particular to a model-free controller combining sliding mode variable structure control and adaptive algorithm, and a dynamic event triggering mechanism. Background technique [0002] Unmanned surface vessel (USV), as an autonomous surface mobile intelligent platform, plays a broad and important role in both military and civilian applications, such as hydrogeographic survey, ocean search, and various war and non-war military missions, etc. As an important guarantee for USV to complete various tasks, trajectory tracking control has attracted the attention of many scholars from all over the world. However, in practical applications, the complexity of the marine environment and the strongly coupled nonlinearity of the dynamical system make the design of the USV trajectory tracking controller extremely challenging. Despite these challenges, researchers have made a lot of efforts on...

AI Technical Summary

Problems solved by technology

Under this design, the communication cost can be effectively reduced when the static trigger conditions are not easy to meet, but as time goes by, as the threshold becomes smaller and smaller, events will be triggered frequently, resulting in unnecessary triggering instants

Images