Network-Based Line-of-Sight Path Tracking of Underactuated Unmanned Surface Vehicles With Experiment Results
Network-Based Line-of-Sight Path Tracking of Underactuated Unmanned Surface Vehicles With Experiment Results
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DOI：
10.1109/tcyb.2021.3074396
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发表时间：
2021-05
影响因子：
11.8
通讯作者：
Wentao Wu;Zhouhua Peng;Dan Wang;Lu Liu;Q. Han
中科院分区：
文献类型：
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作者：
Wentao Wu;Zhouhua Peng;Dan Wang;Lu Liu;Q. Han
研究了欠驱动无人水面航行器在模型不确定性和未知干扰下的无线网络路径跟踪控制问题。提出了一种基于网络的两级控制结构，包括本地内环和远程外环。在远程外环中，设计了事件触发的视线制导律，在实现路径跟踪的同时，减少了运动学级远程控制的网络负担。在局部内环中，采用扩张状态观测器来估计由于模型不确定性和环境干扰引起的未知干扰。基于扩张状态观测器的估计信息，设计了一种事件触发的抗干扰控制律，以降低执行器在动力学层面的执行速率。基于输入-状态稳定性和级联稳定性理论，证明了闭环路径跟踪系统的稳定性。通过实验验证了所提出的基于网络的无人艇路径跟踪方法的有效性。
This article deals with the problem of network-based path-tracking control of an underactuated unmanned surface vehicle subject to model uncertainties and unknown disturbances over a wireless network. A two-level network-based control architecture is proposed, including a local inner loop and a remote outer loop. In the remote outer loop, an event-triggered line-of-sight guidance law is designed to achieve path tracking while reducing the network burden for the remote control at the kinematic level. In the local inner loop, an extended state observer is employed to estimate the unknown disturbances due to the model uncertainties and environmental disturbances. Based on the estimated information from the extended state observer, an event-triggered anti-disturbance control law is developed to reduce the execution rate of actuators at the kinetic level. The stability of the closed-loop path-tracking system is proved based on the input-to-state stability and cascade stability theory. The effectiveness of the proposed network-based method for path tracking of the USV is verified via experiments.