基于扩张观测器的ROV固定时间轨迹控制

Fixed-Time Trajectory Control of ROV Based on Dilation Observer

针对六自由度遥控无人潜水器(ROV)的轨迹规划控制问题,提出基于固定时间扩张观测器的非奇异积分终端滑模控制方法。建立考虑系统模型不确定性及外界扰动的ROV六自由度数学模型,采用一种基于固定时间收敛的扩张状态观测器,实现对系统集总干扰的准确估计以补偿控制系统的控制律;设计固定时间非奇异积分终端滑模控制器以保证ROV系统的轨迹跟踪性能,并基于Lyapunov稳定性理论证明系统的固定时间稳定性。仿真结果表明:与以往控制方法相比,文章所提方法提高了控制系统的性能及精度,可保证水下机器人在不同初始状态下均能在固定时间内达到轨迹跟踪的效果。

A non-singular integral terminal sliding mode control method based on a fixed time dilation observer is proposed for the trajectory planning control problem of a six-degree-of-freedom remotely operated vehicle(ROV).Six degrees of freedom mathematical model of ROV considering system model uncertainty and external disturbances is established.A dilated state observer based on fixed time convergence is used to accurately estimate the lumped disturbance of the system to compensate the control law of the control system.The fixed-time non-singular integral terminal sliding mode controller is designed to ensure the trajectory tracking performance of ROV system,and the fixed time stability of the system is proved based on Lyapunov Stability theory.Simulation results show that the proposed method improves the performance and accuracy of the control system compared to previous control methods,and ensures that the underwater robot can achieve trajectory tracking in a fixed time under different initial states.