Robust Event-triggered Adaptive Pitch Attitude Control for Underwater Gliders with Actuator Faults

doi:10.12382/bgxb.2022.0234

Abstract

Abstract:

To ensure robustness against model uncertainties and actuator faults while reducing control energy consumption, this paper proposes a robust adaptive fault-tolerant scheme using the event-triggered input technique for the pitch attitude control of underwater gliders. Based on the backstepping method, the dynamic surface control technique is employed to avoid calulating the derivation of the virtual control law. Model uncertainties, external disturbances, and actuator faults are compensated as a whole using a RBF-NN that takes advantage of historical input and output data. A relative-threshold event-triggered condition is designed to avoid continuous updating of the control law. Finally, the Lyapunov stability theory is used to ensure the SGUUB of the closed-loop signals. The simulation results confirm that the proposed scheme has robust control performance and can better reduce control energy consumption and communication resource occupation.

Key words: ocean engineering, underwater glider, event-triggered control, adaptive control

MIN Boxu, GAO Jian, JING Anyan, CHEN Yimin, WANG Jiarun, PAN Guang. Robust Event-triggered Adaptive Pitch Attitude Control for Underwater Gliders with Actuator Faults[J]. Acta Armamentarii, 2023, 44(7): 2092-2100.

Figures/Tables 6

Fig.1 Coordinate system for a moving underwater glider (UG)

Fig.2 Control effect of UG’s pitch angle

Fig.3 Position of the moving mass

Fig.4 Trajectory of UG in vertical plane

Fig.5 Event trigger intervals

Fig.6 Compound uncertainties and NN approximation effect

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