Event-triggered model-free adaptive control for a class of surface vessels with time-delay and external disturbance via state observer

作     者：CHEN Hua SHEN Chao HUANG Jiahui CAO Yuhan CHEN Hua;SHEN Chao;HUANG Jiahui;CAO Yuhan

作者机构：College of ScienceHohai UniversityNanjing 210098China College of Mechanical and Electrical EngineeringHohai UniversityChangzhou 213022China Hohai-Lille CollegeHohai UniversityNanjing 211100China 

出 版 物：《Journal of Systems Engineering and Electronics》 (系统工程与电子技术（英文版）)

年 卷 期：2023年第34卷第3期

页      面：783-797页

核心收录：

学科分类：0809[工学-电子科学与技术（可授工学、理学学位）] 08[工学] 082402[工学-轮机工程] 0824[工学-船舶与海洋工程] 0802[工学-机械工程] 0811[工学-控制科学与工程] 080201[工学-机械制造及其自动化] 

基　　金：supported by the Natural Science Foundation of Jiangsu Province(BK20201159). 

主　　题：surface vessels event-triggered condition(ETC) discrete-time extended state observer(DESO) model-free adaptive control(MFAC) coordinate compensation 

摘      要：This paper provides an improved model-free adaptive control(IMFAC)strategy for solving the surface vessel trajectory tracking issue with time delay and restricted disturbance.Firstly,the original nonlinear time-delay system is transformed into a structure consisting of an unknown residual term and a parameter term with control inputs using a local compact form dynamic linearization(local-CFDL).To take advantage of the resulting structure,use a discrete-time extended state observer(DESO)to estimate the unknown residual factor.Then,according to the study,the inclusion of a time delay has no effect on the linearization structure,and an improved control approach is provided,in which DESO is used to adjust for uncertainties.Furthermore,a DESO-based event-triggered model-free adaptive control(ET-DESO-MFAC)is established by designing event-triggered conditions to assure Lyapunov stability.Only when the system’s indicator fulfills the provided event-triggered condition will the control input signal be updated;otherwise,the control input will stay the same as it is at the last trigger moment.A coordinate compensation approach is developed to reduce the steady-state inaccuracy of trajectory tracking.Finally,simulation experiments are used to assess the effectiveness of the proposed technique for trajectory tracking.