针对外部扰动、内部动态以及模型不确定性的水下航行器轨迹跟踪问题，提出固定时间输出反馈控制方案。首先，根据系统输出设计固定时间扩张状态观测器（FESO），使集总扰动和不可测速度的观测误差在固定时间内收敛到0，极大增强系统的鲁棒性。然后，设计固定时间轨迹跟踪控制器（FTTTC），使轨迹跟踪误差固定时间稳定，显著提高控制精度。最后，严格的稳定性分析和综合的仿真研究表明所提出的FESO和FTTTC能够使观测和跟踪误差固定时间收敛，且与初始状态无关。
A fixed time output feedback control scheme is proposed to address the trajectory tracking problem of underwater vehicles with external disturbances, internal dynamics, and model uncertainty. Firstly, a fixed time extended state observer (FESO) is designed based on the system output to ensure that the observation errors of lumped disturbances and unmeasurable velocities converge to zero within a fixed time, greatly enhancing the robustness of the system. Then, a fixed time trajectory tracking controller (FTTTC) is designed to stabilize the trajectory tracking error in a fixed time, significantly improving control accuracy. Finally, stability analysis and simulation studies have shown that the proposed FESO and FTTTC can make the error convergence time independent of the initial state, and have distinct advantages.
2025,47(5): 146-152 收稿日期：2024-3-9
DOI：10.3404/j.issn.1672-7649.2025.05.022
分类号：U675.79
基金项目：江苏省科技项目（BE2020391）
作者简介：唐雯铠（1999 – ），男，硕士研究生，研究方向为海洋无人运载装备
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