Underwater robot preset performance flexible interference compensation control method

Abstract

The invention belongs to the technical field of underwater robots, and particularly relates to an underwater robot preset performance flexible interference compensation control method. The control method mainly aims at the research of underwater robot trajectory tracking control considering unknown external marine environment interference, and uses an interference observer, a preset performance control technology and a flexible interference compensation technology. The problems of online estimation, suppression and compensation of unknown external marine environment interference on trajectory tracking of the underwater robot and tracking control under preset performance constraints are solved. A preset performance flexible interference compensation controller of the underwater robot is used for correcting a tracking feedback control error problem, so that the anti-interference capability of the underwater robot is effectively enhanced, the reliability of marine spaceflight launching and recovery ship control is improved, and the tracking position of the underwater robot achieves an expected effect under the constraint of user-defined performance requirements.

Description

Technical Field

[0001] The present invention belongs to the technical field of underwater robots, and in particular relates to a flexible interference compensation control method for preset performance of an underwater robot. Background Art

[0002] Trajectory tracking control for underwater robots (AUVs) has become a research hotspot due to the increasing demand for underwater missions. However, due to the uncertainties of water flow and underwater conditions, environmental disturbances are crucial for AUV trajectory tracking control research. Furthermore, underwater missions often place stringent demands on the steady-state and transient performance of AUVs, which are often even more difficult to meet under the presence of environmental disturbances. To address these challenges, it is necessary to develop an anti-interference control technology capable of ensuring both steady-state and transient performance of AUVs.

[0003] Existing research methods have proposed some anti-interference control strategies, but for some underwater tasks that have requirements such as accuracy and convergence speed, simply improving robustness cannot fully meet their needs. Some research methods have proposed some control strategies with excellent control performance, but the realization of their excellent performance often requires careful adjustment of the parameters in the control technology. In contrast, the preset performance control method is simpler and can ensure the steady-state and transient performance of the controlled object.

[0004] Therefore, an anti-interference control method for the preset performance of underwater robots is a direction worthy of research. Summary of the Invention

[0005] In order to overcome the problems in the prior art, the present invention proposes a flexible interference compensation control method for preset performance of an underwater robot.

[0006] The technical solution of the present invention to solve the above technical problems is as follows: The present invention provides a method for controlling flexible interference compensation of preset performance of an underwater robot, comprising the following steps: Step 100: establishing a trajectory tracking kinematic model of the underwater robot based on the position information and heading angle information of the underwater robot in the earth coordinate system and the velocity information of the appendage coordinate system; Step 200: Considering the time-varying environmental interference in the ocean environment where the underwater robot performs underwater operations, a trajectory tracking dynamics model of the underwater robot is established; Step 300: Designing preset performance index limits that need to be achieved by underwater robot trajectory tracking, and designing a conversion function to mathematically convert the restricted closed-loop system into an unrestricted closed-loop system; Step 400: Design a disturbance observer to estimate the time-varying environmental disturbance in underwater robot trajectory tracking in real time; Step 500: Designing a composite anti-interference controller with preset performance based on a disturbance observer; Step 600: Designing a flexible interference compensation strategy to optimize the preset performance anti-interference controller of the underwater robot into a preset performance flexible interference compensation controller; Step 700: Solve the gain matrix of the preset performance flexible disturbance compensation controller and the disturbance observer observation gain matrix, so as to achieve the underwater robot trajectory tracking to the expected value.

[0007] Furthermore, in step 100, based on the position information and heading angle information of the underwater robot in the earth coordinate system and the velocity information of the appendage coordinate system, a trajectory tracking kinematic model of the underwater robot is established, including: The position information and heading angle information of the geodetic coordinate system for underwater robot trajectory tracking: ; In the above formula, is the position vector in the geodetic reference coordinate system; Indicates the actual position coordinates of the underwater robot; Indicates the heading angle; Velocity information of the underwater robot in the appendage coordinate system: ; In the above formula, Represents the velocity vector in the reference coordinate system of the appendage, including the forward speed , horizontal drift speed , vertical speed , yaw angular velocity ; Project the velocity in the attached coordinate system to the earth coordinate system, the rotation matrix for: ; In the geodetic coordinate system, the position vector The rate of change of the velocity vector in the attached coordinate system The relationship between them is: ; In the above formula, Represents the position vector The rate of change.

[0008] Furthermore, in step 200, the underwater robot trajectory tracking dynamics model is established by taking into account the time-varying environmental interference in the ocean environment in which the underwater robot performs underwater operations, including: ; In the above formula, , represents a function that combines various internal dynamics factors, where: represents the Coriolis centripetal force matrix; represents the damping matrix; Represents the influence vector of gravity and buoyancy on the underwater robot; represents the inertia matrix including the additional mass; Represents the acceleration vector in the attached coordinate system, which is the velocity vector in the attached coordinate system derivatives with respect to time; is the control input vector; is the unknown time-varying environmental disturbance vector.

[0009] Furthermore, in step 300, the preset performance indicators are specifically: ; ; In the above formula, represents the trajectory tracking error, represents the expected trajectory, and , Represents the trajectory tracking error No. i Actual position on the component With expected position The trajectory tracking error; and is the preset performance function, Used to define trajectory tracking error No. i The lower bound of the trajectory tracking error on the component, Used to define trajectory tracking error No. i The upper bound of the trajectory tracking error on the component, To satisfy , , The positive design parameters, represents the parameter that determines the speed at which the performance function shrinks, and Respectively represent the boundary values ​​of the preset performance limits at the initial moment, and They respectively represent the boundary values ​​of the preset performance limits in steady state.

[0010] Furthermore, in step 300, the designed inter-system conversion relationship is: ; In the above formula, is the tracking error of the transformed unrestricted system, represents the tracking error of the unrestricted system In the i The tracking error of the transformed unrestricted system on the components is related to the variable, the transfer function Specifically: ; In the above formula, .

[0011] Furthermore, in step 400, a disturbance observer is designed to estimate the time-varying environmental disturbance in the underwater robot trajectory tracking in real time, including: Obtain the dynamic model information of the underwater robot, and design the disturbance observer as follows: ; In the above formula, represents the interference estimation value vector; represents the positive definite disturbance observer design parameter matrix; represents the auxiliary intermediate vector generated in the design process of the disturbance observer equation above; represents the derivative of the auxiliary intermediate vector generated during the design of the disturbance observer equation.

[0012] Furthermore, in step 500, designing a composite anti-interference controller with preset performance based on the disturbance observer includes: ; In the above formula, represents a positive design parameter matrix; represents a positive design parameter matrix, Derived from the above conversion function; Represents the velocity error vector of the underwater robot, specifically , where the virtual vector for: ; In the above formula, is a positive design parameter matrix; is a positive design parameter matrix, By the above; Represents the transpose of a rotation matrix.

[0013] Furthermore, in step 600, a flexible interference compensation strategy is designed to optimize the preset performance anti-interference controller of the underwater robot into a preset performance flexible interference compensation controller, including: The specific design of flexible interference compensation strategy is as follows: ; ; In the above formula, is the interference effect indicator, is the flexible condition interference gain matrix; The interference effect indicator criterion is used to determine whether the controller compensates for the effect of environmental disturbance on the underwater robot based on the size relationship between the interference indicator and the criterion. Optimize the preset performance anti-interference controller of the underwater robot into a preset performance flexible interference compensation controller : ; In the above formula, Represents the control input of the system.

[0014] Furthermore, in step 700, the gain matrix in the preset performance flexible disturbance compensation controller and the disturbance observer observation gain matrix are solved to achieve the underwater robot trajectory tracking to the expected value, including: Using the linear matrix inequality algorithm, the gain matrices of the disturbance observer and the fault observer are adjusted ; Using the linear matrix inequality algorithm, the gain matrix of the preset performance flexible disturbance compensation controller is adjusted 、 .

[0015] Compared with the prior art, the present invention has the following technical effects: (1) The control method of the present invention is aimed at underwater robot trajectory tracking. It uses a disturbance observer to solve the problem of online estimation and suppression of unknown external ocean environment interference in the trajectory tracking of the underwater robot at sea. In addition, it aims to correct the tracking feedback control error, effectively enhance the anti-interference ability of the underwater robot, and improve the reliability of the control of the marine space launch and recovery ship.

[0016] (2) The control method of the present invention is aimed at underwater robot trajectory tracking. It uses a preset performance control method to improve the transient and steady-state performance of the underwater robot. It also uses flexible interference compensation technology to save system energy consumption under the strict preset performance requirements of the control system, effectively enhancing the comprehensive performance of the underwater robot.

[0017] (3) The method of the present invention takes into account the actual performance of the flexible interference compensation control of the underwater robot trajectory tracking preset performance, has low cost and is easy to implement in engineering. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions and advantages of the embodiments of the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0019] Figure 1 is a flow chart of the control method of the present invention; Figure 2 A trajectory tracking diagram of an underwater robot provided by an embodiment of the present invention; Figure 3 A trajectory tracking error diagram of an underwater robot provided by an embodiment of the present invention; Figure 4 A velocity diagram of the underwater robot trajectory tracking provided by an embodiment of the present invention; Figure 5 Output diagram of the underwater robot trajectory tracking controller provided by an embodiment of the present invention; Figure 6 A flexible interference compensation gain diagram for underwater robot trajectory tracking provided by an embodiment of the present invention; Figure 7 This is an anti-interference graph for underwater robot trajectory tracking provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0020] To further illustrate the technical means and effects employed by the present invention to achieve its intended purpose, the following, in conjunction with the accompanying drawings and preferred embodiments, describes in detail the specific implementations, structures, features, and effects of the technical solutions proposed by the present invention. Specific features, structures, or characteristics in one or more embodiments may be combined in any suitable manner. Unless otherwise defined, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention pertains.

[0021] The present invention aims to provide an anti-interference control method for underwater robot trajectory tracking. This method utilizes flexible anti-interference technology to optimize the energy consumption of the control strategy under the strong constraints of preset performance, thereby forming a preset performance flexible interference compensation control method for underwater robots. The control method of the present invention is primarily aimed at studying underwater robot trajectory tracking control considering unknown external marine underwater environmental disturbances. The method incorporates motion preset performance control, a disturbance observer, and flexible interference compensation to address the unknown external environmental disturbances experienced by underwater robots and meet the high demands of underwater robots in transient and steady-state performance. Furthermore, flexible interference compensation technology is employed under performance constraints to conserve control energy. The proposed preset performance flexible interference compensation control method corrects tracking feedback control errors, effectively enhancing the underwater robot's anti-interference capability. Preset performance constraints are employed to improve the underwater robot's transient and steady-state control performance. Flexible interference compensation technology is employed to partially utilize the effects of environmental disturbances, saving energy loss in the control system. The proposed preset performance flexible interference compensation control method can effectively improve the reliability of underwater robots and enable trajectory tracking to meet preset performance requirements with an optimized energy usage strategy.

[0022] Figure 1 Flowchart of the control method of the present invention, as shown in FIG. Figure 1 As shown, in one embodiment of the present invention, a method for controlling flexible interference compensation of preset performance of an underwater robot is provided, comprising the following steps: Step 100: establishing a trajectory tracking kinematic model of the underwater robot based on the position information and heading angle information of the underwater robot in the earth coordinate system and the velocity information of the appendage coordinate system; Step 200: Considering the time-varying environmental interference in the ocean environment where the underwater robot performs underwater operations, a trajectory tracking dynamics model of the underwater robot is established; Step 300: Designing preset performance index limits that need to be achieved by underwater robot trajectory tracking, and designing a conversion function to mathematically convert the restricted closed-loop system into an unrestricted closed-loop system; Step 400: Design a disturbance observer to estimate the time-varying environmental disturbance in underwater robot trajectory tracking in real time; Step 500: Designing a composite anti-interference controller with preset performance based on a disturbance observer; Step 600: Designing a flexible interference compensation strategy to optimize the preset performance anti-interference controller of the underwater robot into a preset performance flexible interference compensation controller; Step 700: Solve the gain matrix of the preset performance flexible disturbance compensation controller and the disturbance observer observation gain matrix, so as to achieve the underwater robot trajectory tracking to the expected value.

[0023] The following is a detailed explanation of each of the above steps: Step 100: Based on the position information and heading angle information of the underwater robot in the earth coordinate system and the velocity information of the appendage coordinate system, a trajectory tracking kinematic model of the underwater robot is established.

[0024] The position information and heading angle information of the geodetic coordinate system for underwater robot trajectory tracking: ; In the above formula, is the position vector in the geodetic reference coordinate system; Indicates the actual position coordinates of the underwater robot; It represents the heading angle, that is, the angle between the longitudinal axis of the underwater robot and the north direction of the geodetic coordinate system.

[0025] Velocity information of the underwater robot in the attached coordinate system (body coordinate system): ; In the above formula, Represents the velocity vector in the reference coordinate system of the appendage, including the forward speed , horizontal drift speed , vertical speed , yaw angular velocity .

[0026] Project the velocity in the attached coordinate system to the earth coordinate system, the rotation matrix for: ; Where, the bow angle is the position vector in the geodetic coordinate system Components in the geodetic coordinate system, position vector Rate of change and the velocity vector in the attached coordinate system The conversion relationship between them is: ; Expanding the above relationship, the matrix form of the underwater robot trajectory tracking kinematic model is obtained as follows: .

[0027] Step 200: Considering the time-varying environmental interference in the ocean environment where the underwater robot performs underwater operations, a trajectory tracking dynamics model of the underwater robot is established.

[0028] ; In the above formula, , represents a function that combines various internal dynamics factors, where: represents the Coriolis centripetal force matrix; represents the damping matrix; Represents the influence vector of gravity and buoyancy on the underwater robot; represents the inertia matrix including the additional mass; Represents the acceleration vector in the attached coordinate system, which is the velocity vector in the attached coordinate system derivatives with respect to time; is the control input vector; is the unknown time-varying environmental disturbance vector.

[0029] Step 300: Designing preset performance index limits that need to be achieved by underwater robot trajectory tracking, and designing a conversion function to mathematically convert the restricted closed-loop system into an unrestricted closed-loop system.

[0030] The preset performance indicators are as follows: ; ; In the above formula, represents the trajectory tracking error, represents the expected trajectory, and , Represents the trajectory tracking error No. i Actual position on the component With expected position The trajectory tracking error; and is the preset performance function, Used to define trajectory tracking error No. i The lower bound of the trajectory tracking error on the component, Used to define trajectory tracking error No. i The upper bound of the trajectory tracking error on the component, To satisfy , , The positive design parameters, represents the parameter that determines the speed at which the performance function shrinks, and Indicates the boundary value of the preset performance limit at the initial moment, and Boundary values ​​representing preset performance limits in steady state.

[0031] Since the preset performance index limits the error, the closed-loop system becomes a restricted system, which brings difficulties to the design and stability analysis of the controller. , mathematically transforming a restricted closed-loop system into an unrestricted closed-loop system, thereby simplifying the control design and analysis process.

[0032] The designed conversion relationship between systems is: ; In the above formula, is the tracking error of the transformed unrestricted system, represents the tracking error of the unrestricted system In the i The tracking error of the transformed unrestricted system on the components is related to the variable, the transfer function Specifically: ; In the above formula, .

[0033] Step 400: Design a disturbance observer to estimate the time-varying environmental disturbance in underwater robot trajectory tracking in real time.

[0034] During underwater robot trajectory tracking, time-varying environmental disturbances (such as forces and torques generated by ocean currents and waves) can significantly affect the robot's motion, leading to increased tracking errors and even system instability. The goal of designing a disturbance observer is to accurately estimate these time-varying disturbances in real time so that they can be compensated within the control system, thereby improving the accuracy and robustness of trajectory tracking.

[0035] Obtain the dynamic model information of the underwater robot, and design the disturbance observer as follows: ; In the above formula, is the interference estimation value vector; Design parameter matrix for positive definite disturbance observer; is the auxiliary intermediate vector generated by the above disturbance observer equation and has no actual physical meaning; represents the time derivative of the auxiliary intermediate vector generated by the disturbance observer equation.

[0036] Step 500: Design a composite anti-interference controller with preset performance based on a disturbance observer.

[0037] According to the conversion function, there is the following expression: ; In the above formula, Variables related to the tracking error of the transformed unrestricted system The derivative of rate of change over time; Represents the trajectory tracking error The derivative of , that is, the rate of change of the tracking error over time; 、 is a positive design parameter, which is derived from the following equation: ; ; Above, the tracking error of the original system is related to: ; The tracking error of the unrestricted system is related to: ; The design parameter matrix is ​​related to: , ; Define virtual vector for: ; In the above formula, is a positive design parameter that affects the tracking error Take the derivative and substitute the result into the above formula ,get: ; Suppose the velocity error vector of the underwater robot is , the derivative of the velocity error vector is: ; Based on the interference observer, the preset performance anti-interference controller of the underwater robot is designed as follows: ; in, is a positive design parameter matrix.

[0038] Step 600: Design a flexible interference compensation strategy to optimize the preset performance anti-interference controller of the underwater robot into a preset performance flexible interference compensation controller.

[0039] The specific design of flexible interference compensation strategy is as follows: ; ; In the above formula, is the interference effect indicator, is the interference effect indicator criterion for the design, is the flexible condition interference gain matrix.

[0040] The above-mentioned preset performance anti-interference controller of the underwater robot is optimized to a preset performance flexible interference compensation controller , specifically: ; Determine the Lyapunov function for: ; In the above formula, represents the transpose of the interference estimation error vector.

[0041] Theoretical analysis shows that the designed controller can ensure that all signals of the system are globally consistent and ultimately bounded and that the tracking error Strictly constrained within the preset performance function.

[0042] Step 700: using a linear matrix inequality algorithm to solve the gain matrix of the flexible disturbance compensation controller and the disturbance observer observation gain matrix of the preset performance of the underwater robot trajectory tracking, so as to achieve the underwater robot trajectory tracking to the expected value.

[0043] Using the linear matrix inequality algorithm, the disturbance observer gain matrix is ​​adjusted , so that the real-time estimation performance and convergence speed of the disturbance observer meet the set requirements; adjust the gain matrix of the preset performance flexible disturbance compensation controller 、 , so that the underwater robot trajectory tracking error can reach any desired accuracy.

[0044] In order to verify the performance of the designed underwater robot preset performance flexible interference compensation controller, the following parameters are used as cases for simulation experiments. The dynamic parameters of the research object are: ; ; ; ; In the above formula, , , , .

[0045] Set the desired trajectory of the underwater robot as the initial state , the trajectory of the following function changes: ; The environmental disturbances to which the underwater robot is subjected are: ; Set the default performance function to: ; ; Set the initial state of the underwater robot , .

[0046] Take the gain parameter in the disturbance observer , the virtual vector in the disturbance observer The initial state is , the gain parameters in the preset performance flexible disturbance compensation controller , , and the criterion for each flexible interference compensation is 0.003.

[0047] In order to verify the effectiveness of the method of the present invention, a simulation experiment was carried out. Figure 2-Figure 7 It can be seen that the tracking superiority of the method of the present invention is Figure 2 This is the position tracking diagram of the underwater robot, which shows that the proposed control strategy can overcome environmental interference and enable the underwater robot to track the required tracking trajectory with arbitrary accuracy. Figure 3 is the tracking error of the underwater robot. It can be seen that the tracking error is limited within the preset performance requirements. Figure 4 This is the speed tracking diagram of the underwater robot, which shows that the speed of the underwater robot is bounded and reasonable. Figure 5 is the control input graph, which shows that the controller output is bounded and reasonable. Figure 6 Figure 2 is the gain diagram for flexible disturbance compensation in the underwater robot controller. Figure 7 Figure 3 shows the environmental perturbations and the estimated values ​​of the disturbance observer for the underwater robot, demonstrating the effectiveness of the disturbance observer. The figure shows that the designed preset performance flexible disturbance compensation controller enables the underwater robot to reach and track the desired trajectory with arbitrary accuracy and within the preset performance constraints. Furthermore, all signals in the underwater robot trajectory tracking control system are globally consistent and ultimately bounded, validating the proposed theory.

[0048] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention, and should all be included in the scope of protection of the present invention.

Claims

1. A method for controlling flexible interference compensation of preset performance of underwater robot, characterized in that: The steps include: Step 100: establishing a trajectory tracking kinematic model of the underwater robot based on the position information and heading angle information of the underwater robot in the earth coordinate system and the velocity information of the appendage coordinate system; Step 200: Considering the time-varying environmental interference in the ocean environment where the underwater robot performs underwater operations, a trajectory tracking dynamics model of the underwater robot is established; Step 300: Designing preset performance index limits that need to be achieved by underwater robot trajectory tracking, and designing a conversion function to mathematically convert the restricted closed-loop system into an unrestricted closed-loop system; Step 400: Design a disturbance observer to estimate the time-varying environmental disturbance in underwater robot trajectory tracking in real time; Step 500: Designing a composite anti-interference controller with preset performance based on a disturbance observer; Step 600: Designing a flexible interference compensation strategy to optimize the preset performance anti-interference controller of the underwater robot into a preset performance flexible interference compensation controller; Step 700: Solve the gain matrix of the preset performance flexible disturbance compensation controller and the disturbance observer observation gain matrix, so as to achieve the underwater robot trajectory tracking to the expected value.

2. The method for controlling the preset performance of an underwater robot with flexible interference compensation according to claim 1, characterized in that: In step 100, based on the position information and heading angle information of the underwater robot in the earth coordinate system and the velocity information of the appendage coordinate system, a trajectory tracking kinematic model of the underwater robot is established, including: The position information and heading angle information of the geodetic coordinate system for underwater robot trajectory tracking: ； In the above formula, is the position vector in the geodetic reference coordinate system; Indicates the actual position coordinates of the underwater robot; Indicates the heading angle; Velocity information of the underwater robot in the appendage coordinate system: ； In the above formula, Represents the velocity vector in the reference coordinate system of the appendage, including the forward speed , horizontal drift speed , vertical speed , yaw angular velocity ; Project the velocity in the attached coordinate system to the earth coordinate system, the rotation matrix for: ； In the geodetic coordinate system, the position vector The rate of change of the velocity vector in the attached coordinate system The relationship between them is: ； In the above formula, Represents the position vector The rate of change of the position vector Derivative with respect to time.

3. The method for controlling the flexible interference compensation of the preset performance of an underwater robot according to claim 2, characterized in that: In step 200, a trajectory tracking dynamics model of the underwater robot is established by taking into account the time-varying environmental interference in the ocean environment in which the underwater robot performs underwater operations, including: ； In the above formula, , represents a function that combines various internal dynamics factors, where: represents the Coriolis centripetal force matrix; represents the damping matrix; Represents the influence vector of gravity and buoyancy on the underwater robot; represents the inertia matrix including the additional mass; Represents the acceleration vector in the attached coordinate system, which is the velocity vector in the attached coordinate system derivatives with respect to time; is the control input vector; is the unknown time-varying environmental disturbance vector.

4. The method for controlling the flexible interference compensation of the preset performance of an underwater robot according to claim 3, characterized in that: In step 300, the preset performance indicators are specifically: ； ； In the above formula, represents the trajectory tracking error, represents the expected trajectory, and , Represents the trajectory tracking error No. i Actual position on the component With expected position The trajectory tracking error; and is the preset performance function, Used to define trajectory tracking error No. i The lower bound of the trajectory tracking error on the component, Used to define trajectory tracking error No. i The upper bound of the trajectory tracking error on the component, To satisfy , , The positive design parameters, represents the parameter that determines the speed at which the performance function shrinks, and Respectively represent the boundary values ​​of the preset performance limits at the initial moment, and They respectively represent the boundary values ​​of the preset performance limits in steady state.

5. The method for controlling the flexible interference compensation of the preset performance of an underwater robot according to claim 4, characterized in that: In step 300, the designed inter-system conversion relationship is: ； In the above formula, is the tracking error of the transformed unrestricted system, represents the tracking error of the unrestricted system In the i The tracking error of the transformed unrestricted system on the components is related to the variable, the transfer function Specifically: ； In the above formula, .

6. The method for controlling the flexible interference compensation of the preset performance of an underwater robot according to claim 5, characterized in that: In step 400, a disturbance observer is designed to estimate the time-varying environmental disturbance in the underwater robot trajectory tracking in real time, including: Obtain the dynamic model information of the underwater robot, and design the disturbance observer as follows: ； In the above formula, represents the interference estimation value vector; represents the positive definite disturbance observer design parameter matrix; represents the auxiliary intermediate vector generated in the design process of the disturbance observer equation above; represents the derivative of the auxiliary intermediate vector generated during the design of the disturbance observer equation.

7. The method for controlling the flexible interference compensation of the preset performance of an underwater robot according to claim 6, characterized in that: In step 500, designing a composite anti-interference controller with preset performance based on a disturbance observer includes: ； In the above formula, represents a positive design parameter matrix; represents a positive design parameter matrix; represents the velocity error vector of the underwater robot, , where the virtual vector for: ； In the above formula, is a positive design parameter matrix; is a positive design parameter matrix, Derived from the above conversion function; Represents the transpose of a rotation matrix.

8. The method for controlling the preset performance of an underwater robot with flexible interference compensation according to claim 7, characterized in that: In step 600, a flexible interference compensation strategy is designed to optimize the preset performance anti-interference controller of the underwater robot into a preset performance flexible interference compensation controller, including: The specific design of flexible interference compensation strategy is as follows: ； ； In the above formula, is the interference effect indicator, is the flexible condition interference gain matrix; The interference effect indicator criterion is used to determine whether the controller compensates for the effect of environmental disturbance on the underwater robot based on the size relationship between the interference indicator and the criterion. Optimize the preset performance anti-interference controller of the underwater robot into a preset performance flexible interference compensation controller : ； In the above formula, Represents the control input of the system.

9. The method for controlling the flexible interference compensation of the preset performance of an underwater robot according to claim 8, characterized in that: In step 700, the gain matrix in the preset performance flexible disturbance compensation controller and the disturbance observer observation gain matrix are solved to achieve the underwater robot trajectory tracking to the expected value, including: Using the linear matrix inequality algorithm, the gain matrices of the disturbance observer and the fault observer are adjusted ; Using the linear matrix inequality algorithm, the gain matrix of the preset performance flexible disturbance compensation controller is adjusted 、 .

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