基于扩张状态观测器的AUV固定时间滑模控制  

Fixed-Time Sliding Mode Control of AUV Based on Extended State Observer

作　　者：贾雯杰 王树波 JIA Wenjie;WANG Shubo(School of Automation,Qingdao University,Qingdao 266071;Shandong Key Laboratory of Industrial Control Technology,Qingdao 266071)

机构地区：[1]青岛大学自动化学院,青岛266071 [2]山东省工业控制技术重点实验室,青岛266071

出　　处：《系统科学与数学》2025年第3期651-669,共19页Journal of Systems Science and Mathematical Sciences

基　　金：国家自然科学基金项目(62173194);山东省优秀青年基金项目(ZR2021YQ41)资助课题.

摘　　要：针对六自由度的自主式水下航行器在内部不确定性及外部干扰下的三维轨迹跟踪控制问题,提出了一种基于固定时间扩张状态观测器的滑模控制方法.首先通过一种固定时间扩张状态观测器估计系统不可测速度和集总扰动,同时使用了一种新的预设性能函数来提高系统的瞬态性能.利用观测器以及预设性能函数的输出,结合滑模面,设计了一种固定时间滑模控制器.所提出的控制方法使得跟踪误差能够在固定时间内快速收敛到零,且系统具有鲁棒性强以及稳态精度高的优点.通过数值仿真验证了该方法的有效性.In addressing the three-dimensional trajectory tracking control problem for a six-degree-of-freedom autonomous underwater vehicle under internal uncertainties and external disturbances,a sliding mode control method based on a fixed-time extended state observer is proposed.Initially,the fixed-time extended state observer is employed to estimate the unmeasurable velocity and aggregate disturbance of the system.Simultaneously,a novel predetermined performance function is introduced to enhance the transient performance of the system.Leveraging the outputs of the observer and the predetermined performance function,along with the sliding mode surface,a fixed-time sliding mode controller is designed.The proposed control approach ensures rapid convergence of tracking errors to zero within a fixed time,exhibiting strong robustness and high steady state precision.Numerical simulation results validate the effectiveness of the proposed method.

关 键 词：自主式水下航行器 固定时间控制 扩张状态观测器 预设性能函数 滑模控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]