| 引用本文: | 宁君,王二月,李铁山,陈俊龙.带有事件触发和输入量化的无人船轨迹跟踪控制[J].控制理论与应用,2026,43(3):530~540.[点击复制] |
| NING Jun,WANG Er-yue,LI Tie-shan,CHEN Jun-long.Unmanned surface vehicle trajectory tracking control with event-triggered and input quantization[J].Control Theory & Applications,2026,43(3):530~540.[点击复制] |
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| 带有事件触发和输入量化的无人船轨迹跟踪控制 |
| Unmanned surface vehicle trajectory tracking control with event-triggered and input quantization |
| 摘要点击 661 全文点击 93 投稿时间：2023-07-15 修订日期：2025-12-31 |
| 查看全文 查看/发表评论 下载PDF阅读器 HTML |
| DOI编号 10.7641/CTA.2024.30488 |
| 2026,43(3):530-540 |
| 中文关键词 欠驱动无人船舶 扩张状态观测器 输入量化 自适应神经网络控制 事件触发机制 |
| 英文关键词 underactuated unmanned surface vehicles extended state observer input quantization neuro-adaptive control event-triggered mechanism |
| 基金项目 国家自然科学基金项目(51939001,61976033,52171292, 52271304), 中央高校基本科研业务费项目(3132023151)资助. |
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| 中文摘要 |
| 针对航海实践中通信带宽受限问题,本文提出了带有事件触发机制和输入量化的欠驱动无人船(USV)轨迹
跟踪控制策略.首先,为了实现对期望轨迹的有效跟踪,补偿因海流造成的运动学偏移,在USV运动学子系统中,利
用扩张状态观测器观测偏移量,设计了基于观测结果的制导律.其次,在USV动力学子系统中,引入径向基神经网络
以近似模型不确定性,设计了带有事件触发机制的自适应神经网络量化控制器.针对输入量化为非均匀量化的挑
战, 本文引入了描述输入量化过程的线性解析模型,在设计系统控制律时无需输入量化参数的先验信息,能够有效
增强所设计系统的自适应性与通用性.本文所设计的带有事件触发和输入量化的USV轨迹跟踪控制方法能够降低
执行器的控制频率和幅度,从而减轻通信负担.此外,基于输入到状态稳定性理论证明了闭环系统的稳定性,同时
证明了闭环系统中无芝诺现象.最后,通过仿真实验验证了所提方法的有效性. |
| 英文摘要 |
| Aiming at the problem of limited communication bandwidth in nautical practice, this paper proposes under
actuated unmanned surface vehicle (USV) trajectory tracking control strategy with event triggering mechanism and input
quantization. Firstly, in order to realize the effective tracking of desired trajectory and compensate the kinematic offset
due to the sea current, in the USV kinematic subsystem, an expansion state observer is utilized to observe the offset, and a
guidance law based on the observation results is designed. Secondly, in the USV dynamics subsystem, a radial-based neural
network is introduced to approximate the model uncertainty and an adaptive neural network quantization controller with an
event-triggered mechanism is designed. To address the challenge of non-uniform quantization of input quantization, a lin
ear analytical model describing the input quantization process is introduced in this paper, which can effectively enhance the
adaptability and generality of the designed system without the need of inputting the a priori information of the quantization
parameters when designing the system control law. The USV trajectory tracking control method with event triggering and
input quantization designed in this paper is able to reduce the control frequency and amplitude of the actuator, thus reducing
the communication burden. In addition, the stability of the closed-loop system is proved based on the input-to-state stability
theory, and the absence of Zeno phenomenon in the closed-loop system is also demonstrated. Finally, the effectiveness of
the proposed method is verified by simulation experiments. |
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