自主水下航行器网络化控制系统事件触发鲁棒控制

摘要

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.%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.