[1]王敏.自主水下航行器网络化控制系统事件触发鲁棒控制[J].如何下载365bet_365bet大小盘什么意思_365bet亚洲版官网,2019,41(01):119.[doi:.]
 WANG Min.Event Triggered Robust Control for Networked Autonomous Underwater Vehicle[J].,2019,41(01):119.[doi:.]
点击复制

自主水下航行器网络化控制系统事件触发鲁棒控制()
分享到:

《如何下载365bet_365bet大小盘什么意思_365bet亚洲版官网》[ISSN:1008-1194/CN:61-1316/TJ]

卷:
41
期数:
2019年01
页码:
119
栏目:
出版日期:
2019-03-15

文章信息/Info

Title:
Event Triggered Robust Control for Networked Autonomous Underwater Vehicle
文章编号:
1008-1194(2019)01-0119-06
作者:
王敏
西安职业技术学院机电工程系,陕西 西安 710032
Author(s):
WANG Min
Department of Mechanical and Electrical Engineering, Xi’an Vocational and Technical College, Xi’an 710032,China
关键词:
自主水下航行器事件触发控制不确定系统鲁棒控制网络化控制系统
Keywords:
autonomous underwater vehicle event-triggered control robust control for uncertain systems NCS
分类号:
TP301
DOI:
.
文献标志码:
A
摘要:
随着自主水下航行器(AUV)功能的日益复杂,基于现场总线的(如CAN总线)的网络化控制系统(NCS)已经广泛应用于国内外的大中型AUV中。AUV系统中网络带宽等计算资源一般是有限的,需要在保证控制性能下进行合理分配。提出了一种考虑网络延迟的AUV空间运动事件触发控制策略设计方法。首先,基于不确定离散切换模型对事件触发传输且具有时变传输延迟的AUV纵向、侧向运动系统进行建模;然后,基于线性矩阵不等式对事件触发机制、控制律进行联合设计;最后,通过仿真实验,评估控制策略性能。结果表明,与基于时间触发的控制策略相比,提出的方法能够使AUV控制系统在满足控制性能要求的同时减少带宽占用率。
Abstract:
Field-bus, such as CAN buses, based networked control systems have been widely used in kinds of autonomous underwater vehicles (AUV). As the communication bandwidth of the network used in AUV is always limited, the efficient distribution of bandwidth resource with guaranteed control performance should be researched. This paper focused on the motion control of the AUV with networked architecture in event based control framework, which took uncertain network-induced transmission delay, bandwidth scheduling and event-trigger condition into account. The discrete-time switched model with parameter uncertainty was employed to create the decoupled lateral and longitudinal kinematic state equations of networked AUV with event-triggered data transmission and uncertain transmission delay; It was formulated as a linear matrix inequality (LMI) problem to design the event-triggered robust control strategy which could guarantee the globally uniformly asymptotically stability of lateral and longitudinal motion in present of communication uncertainty. The results of simulation showed that the proposed control strategy can achieve good control performance with lower resource utilization since the data transmission was triggered when necessary.

参考文献/References:

[1]Heemels W P M H, Johansson K H, Tabuada P.An introduction to event-triggered and self-triggered control[C]//2012 IEEE 51st IEEE Conference on, Decision and Control. US: IEEE, 2012: 3270-3285.
[2]Sabih M.Networked event-triggered control: an introduction and research trends [J].International Journal of General Systems, 2014, 43(8): 810-827.
[3]Sabih M.Networked event-triggered control: an introduction and research trends [J].International Journal of General Systems, 2014, 43(8):810-827.
[4]Wang X, Lemmon, M D. Event-triggering in distributed networked control systems[J]. IEEE Transactions on Automatic Control, 2011, 56(3): 586-601.
[5]Forni F, Galeani S, Nesic'D, Event-triggered transmission for linear control over communication channels [J].Automatica, 2014, 50(2): 490-498.
[6]Abdelrahim M, Postoyan R, Daafouz J, Co-design of output feedback laws and event-triggering conditions for linear systems[C]//Proceeding of 53rd IEEE Conference on Decision and Control. US: IEEE, 2014: 3560-3565.
[7]Li S, Sauter D, Xu B. Co-design of event-triggered H∞ control for discrete-time linear parameter-varying systems with network-induced delays[J].Journal of the Franklin Institute, 2015, 352(5): 1867-1892.
[8]Zhou C, Du M, Chen Q. Co-design of dynamic scheduling and H-infinity control for networked control systems [J], Applied Mathematics & Computation, 2012, 218(21): 10767–10775.
[9]Al-Areqi S, Grges D, Liu S, Event-based networked control and scheduling codesign with guaranteed performance[J]. Automatica, 2015, 57(7):128-134.
[10]Mccue L.Handbook of Marine Craft Hydrodynamics and Motion Control[J]. Control Systems IEEE, 2016, 36(1):78-79.
[11]Yun N, Yalin L, Huizhen Y.Event-triggered robust control and dynamic scheduling co-design for networked control system [C]//14th International Bhurban Conference on Applied Sciences and Technology. US: IBCAST,2017: 237 – 243.
[12]Martin Ohlin, Dan Henriksson, Anton Cervin, TrueTime 2.0 beta 7-Reference Manual[EB/OL]. http://www.control.lth.se/truetime/, released 27 April 2012.

备注/Memo

备注/Memo:
收稿日期:2018-09-06
作者简介:王敏 (1972—),女,陕西临潼人,硕士,副教授,研究方向:自动控制、计算机科学技术。E-mail: 290336412@qq.com
更新日期/Last Update: 2019-03-28