火力与指挥控制2026，Vol.51Issue(5)：40-49,10.DOI:10.3969/j.issn.1002-0640.2026.05.006
基于干扰观测器的UVMS固定时间滑模轨迹跟踪控制
Fixed-time Sliding Mode Trajectory Tracking Control for UVMS Based on Disturbance Observer
摘要
Abstract
This paper proposes a fixed-time sliding mode anti-disturbance control strategy for trajectory tracking of underwater vehicle-manipulator systems(UVMS)with model uncertainties and external unknown environmental disturbances.A fixed-time disturbance observer is first constructed to estimate the lumped disturbances encompassing system parametric variations and external perturbations.A novel prescribed performance function is introduced to constrain the trajectory tracking error and ensure satisfactory transient performance.On this basis,a fixed-time sliding mode controller is designed to guarantee that the trajectory tracking error converges to a small neighborhood of zero.Comparative simulation studies validate that the proposed method enables the underwater robot to track the desired trajectory more effectively with better robustness and higher steady-state accuracy.关键词
水下机器人-机械臂系统/干扰观测器/固定时间/滑模控制/预设性能函数Key words
underwater vehicle-manipulator system/disturbance observer/fixed-time/sliding mode control/prescribed performance function分类
信息技术与安全科学引用本文复制引用
高青宜,王娜..基于干扰观测器的UVMS固定时间滑模轨迹跟踪控制[J].火力与指挥控制,2026,51(5):40-49,10.基金项目
国家自然科学基金(61703221) （61703221）
山东省自然科学基金资助项目(ZR2016FP10) （ZR2016FP10）
