Ma Lang, Wang Yu-Long, Han Qing-Long
IEEE Trans Cybern. 2022 May;52(5):3159-3171. doi: 10.1109/TCYB.2020.3008998. Epub 2022 May 19.
This article is concerned with event-triggered dynamic positioning for a mass-switched unmanned marine vehicle (UMV) in network environments. First, a switched dynamic positioning system (DPS) model for a mass-switched marine vehicle is established. The switched DPS model takes into consideration changes in the marine vehicle's mass and the resultant switching of the marine vehicle's parameters. Second, for a mass-switched UMV controlled through a communication network, a novel weighted event-triggering communication scheme considering switching features is proposed. The weighted error data of multiple sampling instants are utilized to avoid a long-time nontriggering phenomenon. The consideration of switching features guarantees the current sampled data to be transmitted if a switch occurs between the last sampling instant and the current sampling instant. Then, under the event-triggering scheme, an asynchronously switched DPS model for the mass-switched UMV is established in network environments. Based on this model, a mode-dependent DPS controller and event generator co-design method are proposed to attenuate the disturbance induced by wind, waves, and ocean currents. The DPS performance analysis demonstrates the effectiveness of the proposed method.
本文关注网络环境下质量切换无人航行器（UMV）的事件触发动态定位。首先，建立了质量切换航行器的切换动态定位系统（DPS）模型。该切换DPS模型考虑了航行器质量的变化以及由此导致的航行器参数切换。其次，针对通过通信网络控制的质量切换UMV，提出了一种考虑切换特性的新型加权事件触发通信方案。利用多个采样时刻的加权误差数据来避免长时间不触发现象。对切换特性的考虑保证了如果在上一个采样时刻和当前采样时刻之间发生切换，则当前采样数据将被传输。然后，在事件触发方案下，在网络环境中建立了质量切换UMV的异步切换DPS模型。基于该模型，提出了一种基于模式的DPS控制器和事件发生器协同设计方法，以减弱风、浪和洋流引起的干扰。DPS性能分析证明了所提方法的有效性。
