基于干扰观测器的UVMS固定时间滑模轨迹跟踪控制OA

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.