Sectionalized Self-Triggered Control for AUVs With Deferred Quantitative Constraints

In this article, the sectionalized self-triggered control problem of autonomous underwater vehicles (AUVs) under deferred quantitative constraints is investigated. By introducing a pair of deferred functions, together with the proposed one-sided quantitative tube boundaries, a deferred quantitative design paradigm is developed to release the tradeoff between quantitative tracking capability and input saturation phenomena, where the repeated parameter tuning and exact initial values of AUVs as prior in standard methods are no longer needed. To reduce the hardware cost of current event-triggered methods, a sectionalized self-triggered mechanism (STM) is designed, achieving aperiodic sampling of the control signal, meanwhile adapting to the different requirements on communication throughput of the control system during transient-state and steady-state stages. The unknown system dynamics estimator is designed for disturbances estimation and compensation to enhance the robustness. Simulation results are provided and analyzed to validate the effectiveness of the proposed control strategy.