完全分布式的动态事件触发的无人驾驶地面车辆的形成和封闭控制,具有间歇性无线网络通信的网络无人驾驶车辆
Zhen Zhang1, Bing Huang1, Xiaotao Zhou1
1National Key Laboratory of Autonomous Marine Vehicle Technology, Harbin Engineering University, Harbin 150001, China.
ISA transactions
|December 19, 2024
概括
本研究引入了无人水面车辆 (USV) 的间歇性动态事件触发控制,以克服海洋环境中的通信问题,从而实现强大的形成控制控制 (FCC). 这种新方法提高了USV耐久性,并减少了控制信号更新.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 控制系统 控制系统
- 海洋工程 海洋工程
背景情况:
- 形成与封闭控制 (FCC) 对网络无人地面车辆 (USV) 至关重要.
- 复杂的海洋环境和通信中断对FCC在USV中的实施构成重大挑战.
- 现有的控制方法在间歇性通信下往往难以保证可靠性.
研究的目的:
- 调查一个间歇性动态事件触发的控制方案,用于USVs.
- 为了提高FCC的稳定性,用于面临通信中断的USV.
- 为了减少控制信号的更新频率,同时确保系统的稳定性.
主要方法:
- 开发一个具有同步子层的双层控制架构.
- 实施基于间歇性通信的集成跟踪控制器,用于领先的无人潜艇.
- 集成动态事件触发机制 (DETM) 与可计算的最小事件间时间 (MIET).
- 为追随USVs提供基于DETM的间歇式控制器的建议,以实现封闭.
主要成果:
- 拟议的方案使领导者USV能够在间歇通信下跟踪虚拟领导者时形成所需的模式.
- 后续的USV可以使用基于DETM的间歇控制器有效地实现制任务.
- 控制策略减少了控制信号更新,不需要全局信息,利用时间变化的增益.
- 模拟证明了开发的控制方案的有效性和优越性.
结论:
- 间歇性动态事件触发控制方案显著提高了USV对通信中断的耐用性.
- 该方法提供了一个强大而有效的解决方案,用于在具有挑战性的海洋环境中进行形成-控制控制.
- DETM有效地减少了通信负载,同时保持了控制性能.
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