Underwater glider robust adaptive course angle control method based on event triggering strategy

Abstract

The invention provides an underwater glider course angle robust adaptive control method based on an event trigger strategy, which is characterized in that a roll angle is regarded as virtual control, a differential rudder angle is regarded as actual control input, and a controller is designed based on a fourth-order nonlinear model and a backstepping method. Firstly, an underwater glider course angle tracking error is calculated, and a virtual control law of a roll angle is designed; secondly, a roll angle tracking error is calculated based on the virtual control law and the current underwater glider roll angle, and differential rudder angle control command input is obtained; in order to reduce the action frequency of the actuator, a relative threshold event triggering condition is designed, and a command signal is transmitted to the steering engine only when the triggering condition is met to supply power to the steering engine. Meanwhile, a robust adaptive damping item is designed to calm an uncertain item of the model and external disturbance. From a simulation result, the system can better track an expected signal, the action frequency of the steering engine is obviously reduced, the control times are effectively reduced, and the energy consumption of the course control system is saved.

Description

technical field [0001] The invention relates to the technical field of control of an underwater glider, in particular to an event-triggered strategy-based robust adaptive course angle control method for an underwater glider. Background technique [0002] The underwater glider is a new type of underwater vehicle driven by pure buoyancy without external propellers. As a long-range underwater vehicle with its own power supply, its endurance is the guarantee for long-term gliding and observation tasks. The energy consumption of the control system is very obvious for the endurance of the glider. It is of great significance to reduce the energy consumption of the control system and realize the energy-saving motion control of the underwater glider. [0003] The existing heading angle control strategies of underwater gliders are highly dependent on precise mathematical models, and the most obvious deficiency is the need to continuously steer the rudder to maintain the heading in th...

AI Technical Summary

Problems solved by technology

[0003] The existing heading angle control strategies of underwater gliders are highly dependent on precise mathematical models, and the most obvious deficiency is the need to continuously steer the rudder to maintain the heading in the presence of environmental disturbances and unmodeled dynamics, which not only causes A large amount of energy consumption of the control system also increases the wear of the actuator, which is not conducive to the long-term mission execution of the underwater glider

Images