基于双通道事件触发机制的水面无人艇同时故障检测与控制
Simultaneous fault detection and control for unmanned surface vehicles with a dual-channel event-triggered scheme
摘要点击 205  全文点击 78  投稿时间:2020-11-14  修订日期:2022-01-06
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DOI编号  10.7641/CTA.2021.00800
  2022,39(4):593-601
中文关键词  双通道积分型事件触发机制  故障检测与控制  水面无人艇
英文关键词  dual-channel integral-based event trigger  fault detection and control  unmanned surface vehicles
基金项目  国家自然科学基金项目(61873310)资助.
作者单位E-mail
王旭东 哈尔滨工业大学 Wang_xudong@foxmail.com 
费中阳 大连理工大学 feizhongyang@gmail.com 
杨柳 哈尔滨工业大学  
中文摘要
      本文研究双通道事件触发通讯机制下水面无人艇(USV)的同时故障检测和控制(SFDC)问题. 考虑执行器 故障和外部扰动, 建立了SFDC框架以同时实现控制和故障检测目标. 为了节约有限的通信资源和系统能源, 在传感 器–控制器通道和控制器–执行器通道分别部署了积分型事件触发器. 在事件触发的通讯机制下, 提出了故障检测器 和控制器的联合设计准则. 最后, USV的仿真结果验证了提出的基于事件触发的SFDC方法的有效性.
英文摘要
      This paper investigates the problem of simultaneous fault detection and control (SFDC) for an unmanned surface vehicle (USV) with a dual-channel event-triggered communication mechanism. Considering the actuator faults and external disturbance, an SFDC framework is established to achieve the control and fault detection objectives, simultaneously. To save limited communication and energy resources, two integral-based event generators are deployed in the sensor-to-controller channel and the controller-to-actuator channel, respectively. Under the event-triggered communication mechanism, the co-design criterion of fault detector and controller is proposed. Eventually, the effectiveness of the proposed event-triggered SFDC method for USV systems is demonstrated by a simulation case.