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  4. Vol 5, Issue 2, 2024

Design of Autopilot Event-Triggered Control Systems

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DOI: 10.23977/autml.2024.050206 | Downloads: 25 | Views: 1099

Author(s)

Ang Zheng 1, Yizhong Ding 1, Xiaoming Xia 2

Affiliation(s)

1 Makarov College of Marine Engineering, Jiangsu Ocean University, Lianyungang, Jiangsu, China
2 College of Marine Engineering, Jiangsu Ocean University, Lianyungang, Jiangsu, China

Corresponding Author

Ang Zheng

ABSTRACT

Addressing the challenges of designing unmanned ship autopilot control systems in a variable marine environment, this study proposes an anti-disturbance control method based on disturbance estimation and compensation under an event-triggered mechanism. The disturbances faced by unmanned ships are modeled as a first-order Nomoto process, capturing the marine disturbances caused by wind, waves, and currents as well as unmodeled dynamics. A extended state observer is constructed to estimate environmental disturbances and uncertainties within the ship model. In the control design, the estimated disturbances are used for compensation to mitigate the impacts of disturbances and uncertainties on the navigation control of unmanned ships. An auxiliary dynamic system is designed to reduce the effects of autopilot input saturation, and an event-triggered mechanism is introduced to decrease the frequency of autopilot actions to avoid excessive wear. Stability analysis using Lyapunov functions indicates that all error signals in the closed-loop system are bounded. Simulation results demonstrate the effectiveness and feasibility of the autopilot event-triggered control system.

KEYWORDS

Autopilot, Extended state observer, Auxiliary dynamic system, Event-triggered control

CITE THIS PAPER

Ang Zheng, Yizhong Ding, Xiaoming Xia, Design of Autopilot Event-Triggered Control Systems. Automation and Machine Learning (2024) Vol. 5: 46-58. DOI: http://dx.doi.org/10.23977/autml.2024.050206.

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