Fault estimation and fault-tolerant compensation control method of unmanned underwater robot

Abstract

The invention discloses a fault estimation and fault-tolerant compensation control method for an unmanned underwater robot, and the method comprises the following steps: S1, selecting a depth variable for a vertical plane model of the unmanned underwater robot with an actuator fault item and a sensor fault item, and converting the vertical plane model into a high-order all-drive model; s2, designing an intermediate estimator according to the high-order all-drive model, and estimating a system state and a fault; and S3, designing a fault-tolerant compensation tracking controller based on the high-order all-drive model, and solving the gain of the controller through a parameterization algorithm. Through the mutual combination of the fault estimator and the high-order fault-tolerant compensation tracking controller, the reliability and robustness of the unmanned underwater robot are effectively improved.

Description

Technical Field

[0001] The invention belongs to the field of advanced control of unmanned underwater robots and relates to a fault estimation and fault-tolerant compensation control method of an unmanned underwater robot. Background Art

[0002] With the rapid development of science and technology and the growing global energy demand, the exploration and development of marine resources has become the focus of global attention. In this context, unmanned underwater robots, with their advanced ocean detection technology, are playing an increasingly important role in the fields of marine exploration and resource development, and have become an indispensable key tool for modern marine resource development.

[0003] However, the complexity and variability of the marine environment poses a severe challenge to the stable operation of unmanned underwater robots. The constant impact of ocean currents and other unpredictable interference factors make the failure of actuators and sensors highly uncertain. These failures are quite common in the operation of unmanned underwater robots. They will cause deviations between the actual outputs of actuators and sensors and the control instructions issued by the system controller, thus affecting the normal operation and task execution of the robot. Therefore, improving the reliability and robustness of unmanned underwater robots is the key to ensuring their effective operation in complex marine environments. Summary of the invention

[0004] In view of the above-mentioned defects, the purpose of the present invention is to propose a fault estimation and fault-tolerant compensation control method of an unmanned underwater robot based on a high-order full-drive system method. By combining the fault estimator and the high-order fault-tolerant compensation tracking controller, the reliability and robustness of the unmanned underwater robot are effectively improved.

[0005] To achieve this object, the present invention adopts the following technical solutions:

[0006] The fault estimation and fault-tolerant compensation control method of an unmanned underwater robot comprises the following steps:

[0007] S1, for the vertical plane model of the unmanned underwater robot with actuator failure and sensor failure terms, and select the depth variable to transform the vertical plane model into a high-order full drive model;

[0008] S2, design an intermediate estimator based on the high-order all-wheel drive model to estimate the system status and faults;

[0009] S3. Design a fault-tolerant compensation tracking controller based on a high-order all-wheel drive model and solve the controller gain through a parameterized algorithm.

[0010] Furthermore, in S1, the vertical equations of the unmanned underwater robot, namely the vertical equation and the pitch equation, can be expressed as follows:

[0011]

[0012] And there is a relationship:

[0013]

[0014] Where, L, m, I x , I y , I z are the length, mass, and moment of inertia of the unmanned underwater robot around the unmanned underwater robot coordinate system x, y, and z;

[0015] u, v, w, p, q, and r are the components of the linear velocity and angular velocity of the unmanned underwater robot along the three axes;

[0016] θ is the attitude angle of the equipment, which are the heel angle and the pitch angle respectively;

[0017] Z (·) ′,M (·) ′ is the hydrodynamic coefficient of the unmanned underwater robot; δ s is the pitch angle of the unmanned underwater robot; ρ is the seawater density; W, B are the gravity and buoyancy of the unmanned underwater robot; z B is the axis coordinate of the buoyancy center of the unmanned underwater robot; ζ is the depth of the unmanned underwater robot;

[0018] When controlling the depth of vertical motion, the vertical equation has little effect on the depth control. At the same time, the influence of some non-main factors in the equation is ignored, and the linearization of equations (2), (3) and (4) is not considered in the case of disturbance. The linear nominal system when the speed of the unmanned underwater robot is u0 is obtained:

[0019]

[0020] The unmanned underwater robot system operates in the deep sea under high pressure and high hydrochloric acid. Its equipment failure is inevitable. Improper operation or equipment failure makes the linked rudder angle actuator reading inaccurate. This is regarded as an actuator failure. The actuator failure model is introduced:

[0021] δ s =αu+s a Formula (6)

[0022] Where α represents the multiplicative actuator failure, s a represents the additive actuator fault, and u represents the nominal system input;

[0023] Therefore, the model with actuator failure term is described as follows:

[0024]

[0025] In formula (7c):

[0026]

[0027] The model with sensor fault terms is described as follows:

[0028] y 1～3 =CX+Ds f Formula (8)

[0029] Among them, C is the dimensionally appropriate unit matrix, y 1～3 =[y1 y2 y3] T , X = [ζ θ q] T , D = [0 1 0] T .

[0030] The following are common representations of advanced all-wheel drive system methods:

[0031] K 0～n =[K0 K1 … K n ]

[0032]

[0033] like Using the high-order system control method, equations (7a), (7b) and (7c) can be transformed into a high-order all-wheel drive system that is only related to the depth and the rudder angle. The model is as follows:

[0034]

[0035] in,

[0036] In the above formula (9), Δ=((α-I)u+s a ) is the total fault, let Formula (9) can be rewritten as the following system:

[0037]

[0038] Combining formula (8), the high-order full-drive model of the unmanned underwater robot can be obtained as follows:

[0039]

[0040] Among them, the time-varying additive actuator fault s a satisfy And θ≥0; the time-varying multiplicative actuator fault α satisfies and Time-varying sensor faults f satisfy And η≥0; the total fault Δ of the time-varying actuator satisfies And γ≥0.

[0041] Furthermore, the S2 is specifically:

[0042] S21. Design an intermediate variable: Satisfy the following formula:

[0043]

[0044] S22. Design state estimator:

[0045]

[0046] in,

[0047] S23. Design intermediate variable estimator:

[0048]

[0049] S24, Fault Estimator:

[0050]

[0051] in, They are (2～0) ,γ,y,s f ,s a An estimated value of

[0052] S25, Order The error system is:

[0053]

[0054] in,

[0055] make The error system can be obtained:

[0056]

[0057] in, C1=[CD];

[0058] L can be quickly obtained through the place command in MATLAB software, and the required estimation performance can be achieved by adjusting the parameter w and configuring the poles.

[0059] Furthermore, the S3 is specifically:

[0060] S31. Design a fault-tolerant compensation tracking controller. The specific design is as follows:

[0061]

[0062] in, Desired reference signal It is continuous and bounded;

[0063] Substituting the controller into the original system, we get the closed-loop tracking error system:

[0064]

[0065] make There is a tracking error system:

[0066]

[0067] in,

[0068] S32. Design parameterized algorithm based on the system:

[0069] The feedback gain matrix of the fault-tolerant compensation tracking controller based on the high-order all-wheel drive system method is obtained by the following equations (22) and (23):

[0070]

[0071] At this time, the closed-loop tracking system matrix A c is a constant matrix, and the free parameter matrix Z∈R 1×3 Satisfy the following constraints

[0072] The feedback gain matrix obtained by the above parameterized algorithm can be used to make the system meet the performance requirements by selecting appropriate matrices Z and F.

[0073] One of the above technical solutions includes the following beneficial effects: The unmanned underwater robot fault estimation and fault-tolerant compensation tracking control method based on the high-order full drive system method proposed in the present invention aims to solve the key problems in the case of multiple faults. The core of the method is that when the actuator and sensor fail, the magnitude of the fault can be accurately estimated. This estimation process utilizes the intermediate estimator algorithm based on the high-order full drive system design to ensure accurate estimation of the fault.

[0074] After the fault size is effectively estimated, a fault-tolerant compensation tracking controller is further designed based on the high-order full-drive system method. This controller dynamically adjusts the control strategy according to the specific situation of the fault to achieve fault-tolerant compensation tracking control of the unmanned underwater robot. This means that even in the event of a fault, the unmanned underwater robot can maintain its mission execution capability and ensure the continuity and stability of marine exploration and resource development. In addition, this design method has a simple and clear structure, easy operation, and good control performance. Through this method, not only the reliability and robustness of the unmanned underwater robot are improved, but also the advancement of marine resource development technology is further promoted. This has important practical significance for coping with the complexity and uncertainty of the marine environment and ensuring the safety and efficiency of underwater operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0075] Figure 1 It is a schematic diagram of the overall process of the present invention;

[0076] Figure 2 for actuator additive faults and their estimation;

[0077] Figure 3 Depth tracking curves of different controllers when only additive actuator fault occurs;

[0078] Figure 4 is the total actuator fault and its estimation;

[0079] Figure 5 The depth tracking curves of different controllers are shown in the case of only total actuator failure;

[0080] Figure 6 for sensor failure and its estimation;

[0081] Figure 7 is the total actuator fault and its estimation (in case of sensor failure);

[0082] Figure 8 Depth tracking curves of different controllers under the conditions of actuator total fault and sensor fault. DETAILED DESCRIPTION

[0083] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0084] The fault estimation and fault-tolerant compensation control method of an unmanned underwater robot comprises the following steps:

[0085] S1, for the vertical plane model of the unmanned underwater robot with actuator failure and sensor failure terms, and select the depth variable to transform the vertical plane model into a high-order full drive model;

[0086] S2, design an intermediate estimator based on the high-order all-wheel drive model to estimate the system status and faults;

[0087] S3. Design a fault-tolerant compensation tracking controller based on a high-order all-wheel drive model and solve the controller gain through a parameterized algorithm.

[0088] The proposed method of fault estimation and fault-tolerant compensation tracking control of unmanned underwater robots based on a high-order all-wheel drive system is intended to solve key problems in the case of multiple faults. The core of the method is to accurately estimate the magnitude of the fault when the actuator and sensor fail. This estimation process uses an intermediate estimator algorithm based on a high-order all-wheel drive system design to ensure accurate estimation of the fault.

[0089] After the fault size is effectively estimated, a fault-tolerant compensation tracking controller is further designed based on the high-order full-drive system method. This controller adjusts the control strategy according to the estimated fault situation to achieve fault-tolerant compensation tracking control of the unmanned underwater robot. This means that even in the event of a fault, the unmanned underwater robot can maintain its mission execution capability and ensure the continuity and stability of marine exploration and resource development. In addition, this design method has a simple and clear structure, easy operation, and good control performance. Through this method, not only the reliability and robustness of the unmanned underwater robot are improved, but also the advancement of marine resource development technology is further promoted. This has important practical significance for coping with the complexity and uncertainty of the marine environment and ensuring the safety and efficiency of underwater operations.

[0090] Among them, in S1, the vertical plane equations of the unmanned underwater robot, namely the vertical equation and the longitudinal inclination equation, can be expressed as follows:

[0091]

[0092] And there is a relationship:

[0093]

[0094] Where, L, m, I x , I y , I z are the length, mass, and moment of inertia of the unmanned underwater robot around the unmanned underwater robot coordinate system x, y, and z;

[0095] u, v, w, p, q, and r are the components of the linear velocity and angular velocity of the unmanned underwater robot along the three axes;

[0096] θ is the attitude angle of the equipment, which are the heel angle and the pitch angle respectively;

[0097] Z (·) ′,M (·) ′ is the hydrodynamic coefficient of the unmanned underwater robot; δ s is the pitch angle of the unmanned underwater robot; ρ is the seawater density; W, B are the gravity and buoyancy of the unmanned underwater robot; z B is the axis coordinate of the buoyancy center of the unmanned underwater robot; ζ is the depth of the unmanned underwater robot;

[0098] When controlling the depth of vertical motion, the vertical equation has little effect on the depth control. At the same time, the influence of some non-main factors in the equation is ignored, and the linearization of equations (2), (3) and (4) is not considered in the case of disturbance. The linear nominal system when the speed of the unmanned underwater robot is u0 is obtained:

[0099]

[0100] The unmanned underwater robot system operates in the deep sea under high pressure and high hydrochloric acid. Its equipment failure is inevitable. Improper operation or equipment failure makes the linked rudder angle actuator reading inaccurate. This is regarded as an actuator failure. The actuator failure model is introduced:

[0101] δ s =αu+s a Formula (6)

[0102] Where α represents the multiplicative actuator failure, s a represents the additive actuator fault, and u represents the nominal system input;

[0103] Therefore, the model with actuator failure term is described as follows:

[0104]

[0105] In formula (7c):

[0106]

[0107] The model with sensor fault terms is described as follows:

[0108] y 1～3 =CX+Ds f Formula (8)

[0109] Among them, C is the dimensionally appropriate unit matrix, y 1～3 =[y1 y2 y3] T x=[ζ θ q] T, D = [0 1 0] T .

[0110] The following are common representations of advanced all-wheel drive system methods:

[0111] K 0～n =[K0 k1 … K n ]

[0112]

[0113] like Using the high-order system control method, equations (7a), (7b) and (7c) can be transformed into a high-order all-wheel drive system that is only related to the depth and the rudder angle. The model is as follows:

[0114]

[0115] in,

[0116] In the above formula (9), Δ=((α-I)u+s a ) is the total fault, let Formula (9) can be rewritten as the following system:

[0117]

[0118] Combining formula (8), the high-order full-drive model of the unmanned underwater robot can be obtained as follows:

[0119]

[0120] Among them, the time-varying additive actuator fault s a satisfy And θ≥0; the time-varying multiplicative actuator fault α satisfies and Time-varying sensor faults f satisfy And η≥0; the total fault Δ of the time-varying actuator satisfies And γ≥0.

[0121] The vertical plane model of the unmanned underwater robot is represented as a new type of high-order all-wheel drive system. For this model, improper operation or failure of the equipment itself will cause the reading of the linked rudder angle actuator to be inaccurate, which is considered as an actuator failure. An abnormality at the pitch angle is considered as a sensor failure. The advantage of this design is that it does not need to destroy the original state structure of the system, thereby retaining the physical characteristics of the original system, making each state of the model have practical significance.

[0122] Wherein, the S2 is specifically:

[0123] S21. Design an intermediate variable: Satisfy the following formula:

[0124]

[0125] S22. Design state estimator:

[0126]

[0127] in,

[0128] S23. Design intermediate variable estimator:

[0129]

[0130] S24, Fault Estimator:

[0131]

[0132] in, They are (2～0) ,γ,y,s f ,s a An estimated value of

[0133] S25, Order The error system is:

[0134]

[0135] in,

[0136] make The error system can be obtained:

[0137]

[0138] in, C1=[CD];

[0139] L can be quickly obtained through the place command in MATLAB software, and the required estimation performance can be achieved by adjusting the parameter w and configuring the poles.

[0140] By introducing intermediate variables, an intermediate estimator is designed to estimate actuator and sensor faults. The advantage of applying the intermediate estimator here is that it avoids the problem that such faults of unmanned underwater robots may not meet the observation matching conditions.

[0141] Wherein, the S3 is specifically:

[0142] S31. Design a fault-tolerant compensation tracking controller. The specific design is as follows:

[0143]

[0144] in, Desired reference signal It is continuous and bounded;

[0145] Substituting the controller into the original system, we get the closed-loop tracking error system:

[0146]

[0147] make There is a tracking error system:

[0148]

[0149] in,

[0150] S32. Design parameterized algorithm based on the system:

[0151] The feedback gain matrix of the fault-tolerant compensation tracking controller based on the high-order all-wheel drive system method is obtained by the following equations (22) and (23):

[0152]

[0153] At this time, the closed-loop tracking system matrix A c is a constant matrix, and the free parameter matrix Z∈R 1×3 Satisfy the following constraints

[0154] The feedback gain matrix obtained by the above parameterized algorithm can be used to make the system meet the performance requirements by selecting appropriate matrices Z and F.

[0155] Under the new high-order all-wheel drive model of the unmanned underwater robot, a fault-tolerant tracking compensation controller is designed to ensure the depth control performance of the system under the influence of actuator and sensor faults. When designing a high-order fault-tolerant compensation tracking controller, the required depth control performance can be obtained by adjusting the free matrix in the parameterized algorithm, which is simple and easy. In addition, the design of the fault-tolerant tracking controller based on fault compensation effectively reduces the impact of the fault on the system control performance, ensures the stable operation of the system before the fault is eliminated, and prevents the performance of the unmanned underwater robot from degrading or being unable to return.

[0156] The present invention will be further described below in conjunction with specific examples.

[0157] During the detection and search process of the unmanned underwater robot, the controller's fault control effect directly affects the working efficiency of the unmanned underwater robot. Among them, actuator failure and sensor failure have the greatest impact on the underwater working stage of the unmanned underwater robot, and it is necessary to design a corresponding controller to compensate for the related faults.

[0158] Taking the state space model of the vertical plane of an unmanned underwater robot as an example, the effectiveness of the designed controller is verified.

[0159] The following is a specific implementation process based on the vertical mathematical model of the unmanned underwater robot:

[0160] This section uses the numerical simulation of the depth control of unmanned underwater vehicles to verify the effectiveness of the designed method. This section will illustrate the effectiveness of the proposed method through the following three numerical experiments, where the tracking depth ζ is set r for:

[0161] ζ r =20,t≥0, formula (24)

[0162] When the navigation speed of the unmanned underwater robot is u0=2m / s, the nominal system of the unmanned underwater robot can be obtained according to system (5) as follows:

[0163]

[0164] According to step 1, for the vertical plane model of the unmanned underwater robot with actuator fault and sensor fault items, the depth variable is selected to transform the vertical plane model into a high-order full-drive model. The specific steps are as follows:

[0165] According to the fault model (6), the unmanned underwater robot system under fault can be obtained as follows:

[0166]

[0167] First, take the derivative of system (26a) twice, and substitute system (26b) and system (26c) into it, considering Δ = ((α-I)u + s a ) is the total fault of the actuator, and the three-order full-drive system model of the unmanned underwater robot under fault is obtained:

[0168]

[0169] According to step 2: design an intermediate estimator based on the high-order all-wheel drive model, and then estimate the system status and faults; the specific steps are as follows:

[0170] a. Design state estimator:

[0171]

[0172] b. Design intermediate variable estimator:

[0173]

[0174] c. Fault Estimator:

[0175]

[0176] d. Get the error system:

[0177]

[0178] By using the place command of MATLAB, we can select the pole [-15 -15.1 -23 -23.1] to obtain

[0179] Then according to step three: design a fault-tolerant tracking compensation controller based on the high-order all-wheel drive model and solve the controller gain through a parameterized algorithm;

[0180] Specifically include:

[0181] Design the fault-tolerant compensation tracking controller as follows:

[0182]

[0183] and select the parameters Z=[1 1 1],w=1K is obtained by parameterized algorithm 2～0 =[-187.6765 -224.8402 -35.2247].

[0184] Scenario 1:

[0185] Additive actuator failure, in which case:

[0186]

[0187] α=1,t≥0,s f =0, t≥0. Based on equation (27), the estimator adopts equation (28)-equation (30), and the third-order fault-tolerant compensation tracking controller is designed as:

[0188]

[0189] The simulation results are Figure 2-3 As shown. Figure 2 It can be seen that in the case of only additive faults of the actuator, the estimator (13)-(15) proposed in this paper can successfully realize the additive fault estimation of the unmanned underwater robot. Figure 3 Compared with the additive fault compensation control law (33) proposed in this paper, the control law with fault and without compensation is: and the fault-free uncompensated control law (at this time s a =0,α=0,s f =0): Tracking control curve of an unmanned underwater vehicle at a specified depth. Figure 2-3The simulation results fully demonstrate the effectiveness of the method proposed in this paper in the depth control of unmanned underwater vehicles under the condition of additive actuators.

[0190] Scenario 2:

[0191] Additive and multiplicative actuator faults, in which case:

[0192]

[0193] s f =0, t≥0, the estimator and control law still use equations (28)-(30) and (33), and the corresponding design parameters are the same as those in case 1, considering Δ = ((α-I)u+s a ) is the total fault of the actuator, and the simulation results are as follows Figure 4-5 As shown. Figure 4 It can be seen that in the case of additive and multiplicative actuator failures, the estimator (13)-(15) proposed in this paper can successfully realize the total actuator failure estimation of the unmanned underwater robot. Figure 5 The fault compensation control law (33) proposed in this paper is compared with the tracking control curves of the faulty uncompensated control law and the fault-free uncompensated control law referred to in Case 1 at the specified depth of the unmanned underwater vehicle. Figure 4-5 The simulation results fully demonstrate the effectiveness of the proposed method in the depth control of unmanned underwater vehicles under additive and multiplicative actuator failures.

[0194] Scenario 3:

[0195] Actuator total failure and sensor failure, in this case,

[0196]

[0197] s f = sin(t), t≥0, the estimator and control law still use equations (28)-(30) and (33), and the corresponding design parameters are the same as those in case 1. The simulation results are shown in Figure 6-8 As shown. Figure 6-7 It can be seen that in the case of actuator total failure and sensor failure, the estimator (13)-(15) proposed in this paper can successfully realize the estimation of sensor failure and actuator total failure of the unmanned underwater robot. Figure 8 The fault compensation control law (33) proposed in this paper is compared with the tracking control curves of the faulty uncompensated control law and the fault-free uncompensated control law referred to in Case 1 at the specified depth of the unmanned underwater vehicle. Figure 6-8 The simulation results fully demonstrate the effectiveness of the method proposed in this paper in the depth control of unmanned underwater vehicles under the conditions of sensor failure and actuator total failure.

Claims

1. A method for fault estimation and fault-tolerant compensation control of an unmanned underwater robot, characterized in that: The steps include: S1, for the vertical plane model of the unmanned underwater robot with actuator failure and sensor failure terms, and select the depth variable to transform the vertical plane model into a high-order full drive model; S2, design an intermediate estimator based on the high-order all-wheel drive model to estimate the system status and faults; S3. Design a fault-tolerant compensation tracking controller based on a high-order all-wheel drive model and solve the controller gain through a parameterized algorithm.

2. The fault estimation and fault-tolerant compensation control method of the unmanned underwater robot according to claim 1 is characterized in that: In S1, the vertical equations of the unmanned underwater robot, namely the vertical equation and the longitudinal inclination equation, can be expressed as follows: And there is a relationship: Where, L, m, I x , I y , I z They are the length, mass, and moment of inertia of the unmanned underwater robot around the unmanned underwater robot coordinate system x, y, and z; u, v, w, p, q, and r are the components of the linear velocity and angular velocity of the unmanned underwater robot along the three axes; θ is the attitude angle of the equipment, which are the heel angle and the pitch angle respectively; Z (·) ′,M (·) ′ is the hydrodynamic coefficient of the unmanned underwater robot; δ s is the pitch angle of the unmanned underwater robot; ρ is the seawater density; W, B are the gravity and buoyancy of the unmanned underwater robot; z B is the axis coordinate of the buoyancy center of the unmanned underwater robot; ζ is the depth of the unmanned underwater robot; When controlling the depth of vertical motion, the vertical equation has little effect on the depth control. At the same time, the influence of some non-main factors in the equation is ignored, and the linearization of equations (2), (3) and (4) is not considered under disturbance conditions (w≈0, v≈0, p≈0, r≈0, cosθ≈1, sinθ≈θ) to obtain the linear nominal system when the speed of the unmanned underwater robot is u0: The unmanned underwater robot system operates in the deep sea under high pressure and high hydrochloric acid. Its equipment failure is inevitable. Improper operation or equipment failure makes the linked rudder angle actuator reading inaccurate. This is regarded as an actuator failure. The actuator failure model is introduced: d s =αu+s a expression(6) Where α represents the multiplicative actuator failure, s a represents the additive actuator fault, and u represents the nominal system input; Therefore, the model with actuator failure term is described as follows: In formula (7c): The model with sensor fault terms is described as follows: y 1-3 =CX+Ds f Formula (8) Where C is the dimensionally appropriate unit matrix, y1~3=[y1 y2 y3] T , X = [ζ θ q] T , D = [0 1 0] T The following are common representations of advanced all-wheel drive system methods: K 0～n =[K0 K1…K n ] like Using the high-order system control method, equations (7a), (7b) and (7c) can be transformed into a high-order all-wheel drive system that is only related to the depth and the rudder angle. The model is as follows: in, In the above formula (9), Δ=((α-I)u+s a ) is the total fault, let Formula (9) can be rewritten as the following system: Combining formula (8), the high-order full-drive model of the unmanned underwater robot can be obtained as follows: Among them, the time-varying additive actuator fault s a satisfy And θ≥0; the time-varying multiplicative actuator fault α satisfies and Time-varying sensor faults f satisfy And η≥0; the total fault Δ of the time-varying actuator satisfies And γ≥0.

3. The fault estimation and fault-tolerant compensation control method of the unmanned underwater robot according to claim 1 is characterized in that: The S2 is specifically: S21. Design an intermediate variable: Satisfy the following formula: S22. Design state estimator: in, S23. Design intermediate variable estimator: S24, Fault Estimator: in, They are (2～0) ,γ,y,s f ,s a An estimated value of S25, Order The error system is: in, make The error system can be obtained: in, C1=[CD]; L can be quickly obtained through the place command in MATLAB software, and the required estimation performance can be achieved by adjusting the parameter w and configuring the poles.

4. The fault estimation and fault-tolerant compensation control method of the unmanned underwater robot according to claim 1, characterized in that: The S3 is specifically: S31. Design a fault-tolerant compensation tracking controller. The specific design is as follows: in, Desired reference signal It is continuous and bounded; Substituting the controller into the original system, we get the closed-loop tracking error system: make There is a tracking error system: in, S32. Design parameterized algorithm based on the system: The feedback gain matrix of the fault-tolerant compensation tracking controller based on the high-order all-wheel drive system method is obtained by the following equations (22) and (23): At this time, the closed-loop tracking system matrix A c is a constant matrix, and the free parameter matrix Z∈R 1×3 Satisfy the following constraints The feedback gain matrix obtained by the above parameterized algorithm can be used to make the system meet the performance requirements by selecting appropriate matrices Z and F.

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