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

doi:10.23919/JSEE.2023.000075

Journal of Systems Engineering and Electronics ›› 2023, Vol. 34 ›› Issue (3): 783-797.doi: 10.23919/JSEE.2023.000075

• CONTROL THEORY AND APPLICATION • Previous Articles

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

Hua CHEN¹^,²^,*(), Chao SHEN¹(), Jiahui HUANG¹(), Yuhan CAO³()

¹ College of Science, Hohai University, Nanjing 210098, China
² College of Mechanical and Electrical Engineering, Hohai University, Changzhou 213022, China
³ Hohai-Lille College, Hohai University, Nanjing 211100, China

Received:2022-05-06 Online:2023-06-15 Published:2023-06-30
Contact: Hua CHEN E-mail:chenhua112@163.com;1277220206@qq.com;1353988290@qq.com;1371615921@qq.com
About author:
CHEN Hua was born in 1978. He received his B.S. degree from the Department of Mathematics at Yangzhou University, China, in 2001, M.S. degree from the Department of Management Sciences and Engineering, Nanjing University, China, in 2009, and Ph.D. degree from the Department of Control Science and Engineering, University of Shanghai for Science and Technology, China, in 2012. He is a researcher at the College of Science, Hohai University. His main research interests include modelling and control of nonlinear systems, stability analysis, time delay systems, and motion control of underactuated systems such as wheeled mobile robots, unmanned surface vehicle, and inspection robots. E-mail: chenhua112@163.com

SHEN Chao was born in 1999. He received his B.S. degree from the School of Mathematical Science, Huaiyin Normal University, China, in 2017. He is currently pursuing his M.S. degree at the College of Science, Hohai University, China. His research interests include data-driven control, control of discrete systems and control of surface vessels. E-mail: 1277220206@qq.com

HUANG Jiahui was born in 1999. She received her B.S. degree from the Department of Mathematics, Huaiyin Normal University, China, in 2021. She is currently pursuing her M.S. degree at the College of Science, Hohai University. Her research interests include data-driven control and time-delay control of wheeled mobile robots. E-mail: 1353988290@qq.com

CAO Yuhan was born in 2001. Currently, she is a undergraduate student at Hohai-Lille College, Hohai University. Her main research interests include modelling and control of nonlinear systems, stability analysis, time-delay-systems, motion control of underactuated systems such as unmanned surface vehicle. E-mail: 1371615921@qq.com
Supported by:
This work was supported by the Natural Science Foundation of Jiangsu Province (BK20201159).

Abstract

Abstract:

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.

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

Hua CHEN, Chao SHEN, Jiahui HUANG, Yuhan CAO. Event-triggered model-free adaptive control for a class of surface vessels with time-delay and external disturbance via state observer[J]. Journal of Systems Engineering and Electronics, 2023, 34(3): 783-797.

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Parameter	Value
$\hat \varXi (0)$	1.0
$ {\alpha _1} $	0.1
$ \eta $	0.1
$ {\alpha _2} $	0.992
$ \lambda $	0.1
$ \varepsilon $	0.1 $ \times {10}^{-10} $
$ {l_1} $	0.8
$ {l_2} $	0.2
$ \beta $	0.01

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

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