| 引用本文: | 王旭东,费中阳,杨柳.基于双通道事件触发机制的水面无人艇同时故障检测与控制[J].控制理论与应用,2022,39(4):593~601.[点击复制] |
| WANG Xu-dong,FEI Zhong-yang,YANG Liu.Simultaneous fault detection and control for unmanned surface vehicles with a dual-channel event-triggered scheme[J].Control Theory and Technology,2022,39(4):593~601.[点击复制] |
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| 基于双通道事件触发机制的水面无人艇同时故障检测与控制 |
| Simultaneous fault detection and control for unmanned surface vehicles with a dual-channel event-triggered scheme |
| 摘要点击 1657 全文点击 527 投稿时间：2020-11-14 修订日期：2022-01-06 |
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| DOI编号 10.7641/CTA.2021.00800 |
| 2022,39(4):593-601 |
| 中文关键词 双通道积分型事件触发机制 故障检测与控制 水面无人艇 |
| 英文关键词 dual-channel integral-based event trigger fault detection and control unmanned surface vehicles |
| 基金项目 国家自然科学基金项目(61873310)资助. |
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| 中文摘要 |
| 本文研究双通道事件触发通讯机制下水面无人艇(USV)的同时故障检测和控制(SFDC)问题. 考虑执行器
故障和外部扰动, 建立了SFDC框架以同时实现控制和故障检测目标. 为了节约有限的通信资源和系统能源, 在传感
器–控制器通道和控制器–执行器通道分别部署了积分型事件触发器. 在事件触发的通讯机制下, 提出了故障检测器
和控制器的联合设计准则. 最后, USV的仿真结果验证了提出的基于事件触发的SFDC方法的有效性. |
| 英文摘要 |
| This paper investigates the problem of simultaneous fault detection and control (SFDC) for an unmanned
surface vehicle (USV) with a dual-channel event-triggered communication mechanism. Considering the actuator faults
and external disturbance, an SFDC framework is established to achieve the control and fault detection objectives, simultaneously.
To save limited communication and energy resources, two integral-based event generators are deployed in the
sensor-to-controller channel and the controller-to-actuator channel, respectively. Under the event-triggered communication
mechanism, the co-design criterion of fault detector and controller is proposed. Eventually, the effectiveness of the proposed
event-triggered SFDC method for USV systems is demonstrated by a simulation case. |