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Multi-underwater-vehicle self-adaptive fuzzy bipartite consistency control method based on event triggering mechanism

An underwater vehicle, self-adaptive fuzzy technology, applied in the direction of self-adaptive control, combustion engine, general control system, etc., can solve the problems of shortening the service life of the actuator, mechanical wear and so on

Active Publication Date: 2020-06-26
DALIAN MARITIME UNIVERSITY
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Problems solved by technology

Long-term high-frequency work will undoubtedly cause mechanical wear and shorten the service life of the actuator

Method used

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  • Multi-underwater-vehicle self-adaptive fuzzy bipartite consistency control method based on event triggering mechanism
  • Multi-underwater-vehicle self-adaptive fuzzy bipartite consistency control method based on event triggering mechanism
  • Multi-underwater-vehicle self-adaptive fuzzy bipartite consistency control method based on event triggering mechanism

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Embodiment

[0080] Such as figure 1 As shown, the present invention provides a kind of multi-underwater vehicle self-adaptive fuzzy bipartite consistent control method based on event triggering mechanism, comprises the following steps:

[0081] S1. Establish the dynamic model and kinematics model of the underwater vehicle;

[0082] The underwater vehicle dynamics model and kinematics model established in the step S1 are as follows:

[0083]

[0084]

[0085] where i∈N, Represents the position vector, by the Euler angle Φ i =[φ i ,θ i ,ψ i ] T Depict the pose vector; v i =[u i ,v i ,w i ] T Indicates the translation velocity vector, M i =diag{m i1 ,m i2 ,m i3} represents the inertia matrix, m ij >0;D i (v i )=diag{d i1 , d i2 , d i3} represents the damping matrix, represents the restoring force vector, τ i =[τ ui ,τ vi ,τ wi ] T ∈R 3 represents the control force vector, Indicates resilience, S i Indicates gravity, K i Indicates buoyancy, j=1,2,3;...

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Abstract

The invention provides a multi-underwater-vehicle self-adaptive fuzzy bipartite consistency control method based on an event triggering mechanism. The method is used for solving the problem of marinevehicle resource waste, and the method comprises the steps: converting a complex multi-underwater-vehicle kinematics and dynamics system into a simple second-order nonlinear multi-agent system model,and designing a distributed controller for the constructed second-order nonlinear multi-agent system model; eliminating errors generated in the command filter design process through an introduced command filter backstepping back-stepping technology. By utilizing the Lyapunov analysis, it can be ensured that the positions of the two parts of the considered system converge into the small neighborhood of the origin. Besides, a self-adaptive event trigger control strategy is provided for measurement errors caused by an event trigger mechanism, so high-frequency updating of the actuator and the controller is reduced, the service life of the actuator is prolonged, and energy consumption is reduced.

Description

technical field [0001] The present invention relates to the technical field of control of multiple underwater vehicles, in particular to an event-triggered mechanism-based adaptive fuzzy bipartite consensus control method for multiple underwater vehicles. Background technique [0002] In the past few years, autonomous underwater vehicles have played an important role in the field of ocean exploration. Due to their small size, light weight, and low cost, they have attracted more and more researchers from the control field. . Therefore, underwater robots have a great impact on collectively engaged in marine activities, such as marine survey and exploration. Accurate positioning control of underwater robots requires high-quality data, which makes underwater intervention tasks difficult. At the same time, in practice, due to its limited storage and limited resources, how to solve the problem of limited capacity and energy has important theoretical and practical significance. ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042Y02T10/40
Inventor 李铁山徐媛媛佟绍成武越单麒赫朱丽燕
Owner DALIAN MARITIME UNIVERSITY
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