期刊
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
卷 51, 期 2, 页码 1224-1232出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TSMC.2019.2896382
关键词
Network operating systems; nonlinear systems; time-varying desired trajectory; tracking; underwater equipment
In this paper, a robust H-infinity depth tracking controller is designed for a remotely operated underwater vehicle (ROV) using a novel event-triggered method. The communication rate between the controller and the ROV is reduced, and the effects of disturbance on system performance are attenuated. The stability of the ROV under the designed event-triggered controller is proved, and simulation results show that the proposed controller achieves zero error convergence between the ROV depth and its desired trajectory.
In this paper, using a novel event-triggered method, a robust H-infinity depth tracking controller is designed for a remotely operated underwater vehicle (ROV). It is assumed that the desired trajectory of the ROV is determined by an operator outside of the vehicle based on its needed depth and obstacles in its path. It is also assumed that a wireless network is used to connect the user with the ROV. To decrease the communication rate between the controller and the ROV, a novel nonlinear event-triggered H-infinity controller is designed. The effects of the disturbance on the system performance are also attenuated. Stability of the ROV under the designed event-triggered controller is proved through a theorem. Simulation results demonstrate that the error between the depth of the ROV and its time-varying desired trajectory converges to zero using the proposed event-triggered H-infinity controller. It is also shown that the communication rate between the designed controller and the ROV is considerably reduced.
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