基于干扰观测器的水下机器人预定性能控制

Prescribed performance control of underwater robot based on disturbance observer

针对受外界干扰的水下机器人,提出一个预定性能控制器.首先,针对水下机器人的外界干扰,设计一个干扰观测器并且估计误差在有限时间内收敛至零;然后,利用干扰观测器进行前馈补偿,基于一种指数型障碍李雅普诺夫函数设计一个非奇异快速积分终端滑模控制器,使得水下机器人的轨迹跟踪误差在有限时间内收敛至零并且满足预定的性能要求;最后,严格地证明控制系统的稳定性,并通过仿真实例验证所提方法的有效性.

This paper investigates the prescribed performance control problem for underwater robots with disturbance.Firstly,for the disturbance of underwater robots,a disturbance observer is designed,and the disturbance estimation error converges to zero in finite time.Then,a nonsingular fast integration terminal sliding mode controller(NFITSMC)is proposed based on the exponential-type barrier Lyapunov function(E-BLF).The controller can make the tracking error converge to zero in finite time and ensure that the static and dynamic performance satisfies prescribed performance index.Finally,the stability of the control system is proved,and a simulation example is given to illustrate the effectiveness of the proposed methods.