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

Boxu MIN; Jian GAO; Anyan JING; Yimin CHEN; Jiarun WANG; Guang PAN

doi:10.12382/bgxb.2022.0234

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

更新时间：2025-08-18

- Robust Event-triggered Adaptive Pitch Attitude Control for Underwater Gliders with Actuator Faults
- Acta Armamentarii Vol. 44, Issue 7, Pages: 2092-2100(2023)
- 作者机构：
  
  西北工业大学航海学院, 陕西西安 710072
- 作者简介：
- 基金信息：
- DOI：10.12382/bgxb.2022.0234
  CLC：
- Received：08 April 2022，
  
  Published Online：07 August 2023，
  
  Published：30 July 2023
- 稿件说明：
移动端阅览
Boxu MIN, Jian GAO, Anyan JING, et al. Robust Event-triggered Adaptive Pitch Attitude Control for Underwater Gliders with Actuator Faults[J]. Acta Armamentarii, 2023, 44(7): 2092-2100.
DOI：

Boxu MIN, Jian GAO, Anyan JING, et al. Robust Event-triggered Adaptive Pitch Attitude Control for Underwater Gliders with Actuator Faults[J]. Acta Armamentarii, 2023, 44(7): 2092-2100. DOI： 10.12382/bgxb.2022.0234.

摘要

为确保水下滑翔机俯仰姿态控制对模型不确定性及执行器故障的鲁棒性并降低控制能耗

提出一种基于事件触发的自适应容错俯仰控制算法。在反步控制的基础上

使用动态面技术避免对虚拟控制律求导;利用基于历史输入、输出数据的径向基神经网络对模型不确定项、环境扰动和执行器故障进行逼近与补偿;设计基于相对阈值的事件触发条件

避免控制律的连续更新

从而降低控制能耗。使用Lyapunov稳定性理论证明了闭环系统的所有信号满足半全局一致最终有界。仿真实验结果表明

所设计的控制器在实现鲁棒性的前提下进一步节约了控制能耗和通信资源。

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.

关键词

Keywords

references

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李纪强 , 张国庆 , 黄晨峰 , 等 . 考虑执行器故障的无人帆船事件触发控制 [J ] . 系统工程与电子技术 , 2022 , 44 ( 1 ): 242 - 249 . DOI: 10.12305/j.issn.1001-506X.2022.01.30 http://doi.org/10.12305/j.issn.1001-506X.2022.01.30 针对实际海洋环境下, 无人帆船在艏向跟踪控制任务中存在的模型参数未知、控制输入频繁抖振和执行器磨损等问题, 提出一种考虑执行器故障的无人帆船事件触发控制算法。首先, 采用径向基函数神经网络(radius based function neural networks, RBF-NNs)对系统的未知模型参数进行在线逼近。其次, 在无人帆船艏向数学模型中引入执行器故障模型, 并且在艏向控制器设计中考虑帆结构造成的转船力矩, 设计基于事件触发机制的艏向控制律来减少控制输入的频繁抖振和执行器磨损。最后, 通过李雅普诺夫稳定性判据证明了所提控制算法满足半全局一致有界(semi-global uniform ultimate bounded, SGUUB)稳定。数值仿真结果表明, 相比于传统的艏向控制算法, 所提算法能够在保证艏向控制性能的基础上, 极大地降低控制输入的频繁抖振和减少执行器的磨损。

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