Control of Multiple AUV Systems With Input Saturations Using Distributed Fixed-Time Consensus Fuzzy Control
Control of Multiple AUV Systems With Input Saturations Using Distributed Fixed-Time Consensus Fuzzy Control
复制标题
具有输入饱和的多AUV系统的分布式定时一致模糊控制
DOI：
10.1109/tfuzz.2024.3368352
复制
发表时间：
2024-05
影响因子：
11.9
通讯作者：
Mien Van;Yuzhu Sun;Stephen Mcllvanna;Minh-Nhat Nguyen;Federico Zocco;Zhijie Liu
中科院分区：
文献类型：
--
作者：
Mien Van;Yuzhu Sun;Stephen Mcllvanna;Minh-Nhat Nguyen;Federico Zocco;Zhijie Liu
提出了一种基于自适应模糊控制的分布式控制方法，用于多个协作式自主水下机器人（AUV）在固定时间内跟踪期望的编队形状。首先设计了一种基于固定时间反推滑模控制的编队控制协议，其中各AUV的一致性协同跟踪误差将被公式化。然后，为了补偿饱和的控制力矩，自适应辅助变量的引入。最后，一个固定的时间自适应模糊逻辑控制（FLC）推导出近似的未知动态，其中FLC的自适应律推导出，使自适应信号和误差可以在固定的时间内收敛。固定时间收敛在实际中是期望的，因为它提供了一个令人兴奋的性质，整个系统的全局收敛是独立的初始状态的AUV。对4艘AUV的一致编队控制的计算机仿真结果表明，所提出的编队控制方法能够以较低的控制代价提供较高的跟踪性能。
This study proposes a new distributed control method based on adaptive fuzzy control for multiple collaborative autonomous underwater vehicles (AUVs) to track a desired formation shape within a fixed time. First, a formation control protocol based on a fixed-time backstepping sliding-mode control is designed, in which the consensus cooperative tracking errors for each AUV will be formulated. Then, to compensate for the saturated control torques, an adaptive auxiliary variable is introduced. Finally, a fixed-time adaptive fuzzy logic control (FLC) is derived to approximate the unknown dynamics, in which the adaptive laws of the FLC are derived such that the adaptive signals and errors can be convergent within a fixed time. The fixed-time convergence is desired in practice because it provides an exciting property that the global convergence of the whole system is independent of the initial states of the AUVs. The computer simulation results for a consensus formation control of four AUVs show that the proposed formation control can provide higher tracking performance with lower and smoother control efforts.