Event-Triggered Cooperative Path Following of Autonomous Surface Vehicles Over Wireless Network With Experiment Results
Event-Triggered Cooperative Path Following of Autonomous Surface Vehicles Over Wireless Network With Experiment Results
复制标题
事件触发的地面自动驾驶车辆无线网络协同路径跟踪及实验结果
DOI：
10.1109/tie.2021.3120442
复制
发表时间：
2022-11
影响因子：
7.7
通讯作者：
Mingao Lv;Zhouhua Peng;Dan Wang;Qing‐Long Han
中科院分区：
文献类型：
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作者：
Mingao Lv;Zhouhua Peng;Dan Wang;Qing‐Long Han
本文解决了资源有限的无线网络上自主地面车辆 (ASV) 的协作路径跟踪问题。提出了一种基于网络的资源感知控制架构，以避免不必要的通信、计算和驱动。具体来说，设计了事件触发的协作控制律来处理有限的网络带宽。每个 ASV 根据定向通信链路下的预定义事件条件向其相邻 ASV 广播其合作变量。然后，基于视线方法提出了事件触发路径跟踪控制律。开发了事件触发的扩展状态观测器来估计不确定性和外部干扰，而无需定期估计。最后，开发了具有非周期性驱动的事件触发运动控制律。采用级联理论分析了闭环路径跟踪系统的输入状态稳定性，并排除了Zeno行为。所提出的基于网络的资源感知控制架构的一个显着特征是可以通过低网络流量和减少计算来实现协作路径跟踪。实验结果通过使用非周期性通信、估计和执行来说明所提出的针对多个 ASV 的基于网络的资源感知控制架构的有效性。
This article addresses cooperative path-following problem of autonomous surface vehicles (ASVs) over a wireless network with constrained resources. A network-based resource-aware control architecture is presented to avoid unnecessary communications, computations, and actuations. Specifically, an event-triggered cooperative control law is designed to deal with the limited network bandwidth. Each ASV broadcasts its cooperation variable to its neighboring ASVs based on predefined event conditions under directed communication links. Then, an event-triggered path-following control law is proposed based on a line-of-sight approach. An event-triggered extended state observer is developed to estimate the uncertainties and external disturbances without periodic estimation. Finally, an event-triggered kinetic control law with aperiodic actuation is developed. The input-to-state stability of the closed-loop path-following system is analyzed by employing cascade theory, and Zeno behavior is excluded. A salient feature of the proposed network-based resource-aware control architecture is that cooperative path following can be achieved with low network traffic and reduced computation. Experiment results are given to illustrate the effectiveness of the proposed network-based resource-aware control architecture for multiple ASVs by using aperiodic communications, estimations, and executions.