Unmanned underwater vehicles (UUV) are always affected by unknown ocean currents during underwater operations. This makes it difficult to reach the designated position. So disturbance-observer-based control (DOBC) has gained people’s favor. However, the DOBC method also increases the complexity of the system when designing controllers. This article investigates the design of event-triggered based disturbance observer for a classical unmanned underwater vehicle (UUV) with unknown ocean current disturbances, and further controls its depth based on this design. In order to reduce data redundancy caused by increased system complexity, event triggered control has become the core of this design. The event triggering mechanism can significantly reduce the transmission frequency of the system by setting the prerequisite conditions for data transmission, thereby achieving the goal of saving transmission resources. In order to enable the UUV to quickly reach the specified depth, a Proportional-Integral (PI) controller based on the state triggered by events has been developed. In addition, using a theory which is called Lyapunov stability to ensure the stability criterion of UUV. Finally, data simulation was conducted on a class of linear discrete unmanned underwater vehicle systems to verify the rationality of this design.
Event-Triggered Based Disturbance Observer and PI Depth Control for UUVs
Lect. Notes Electrical Eng.
International Conference on Guidance, Navigation and Control ; 2024 ; Changsha, China August 09, 2024 - August 11, 2024
08.03.2025
11 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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