An underwater robot preset performance flexible interference compensation control method

Abstract

The present application belongs to the technical field of underwater robots, and particularly relates to a preset performance flexible interference compensation control method for underwater robots. The control method mainly faces the research on the trajectory tracking control of underwater robots considering unknown external marine environment interference, and uses an interference observer, preset performance control technology and flexible interference compensation technology to solve the problems of online estimation, inhibition, compensation of unknown external marine environment interference suffered by underwater robots in trajectory tracking and control tracking under preset performance constraints. The preset performance flexible interference compensation controller for underwater robots is used to correct the tracking feedback control error problem, effectively enhances the anti-interference ability of underwater robots, improves the reliability of the control of the marine space launch and recovery ship, and makes the tracking position of the underwater robot achieve the expected effect under the user-defined performance requirement constraints.

Description

Technical Field

[0001] This invention belongs to the field of underwater robot technology, specifically relating to a method for flexible interference compensation control of preset performance of underwater robots. Background Technology

[0002] Currently, underwater robot trajectory tracking control has gradually 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 a significant factor in underwater robot trajectory tracking control research. Furthermore, underwater missions often impose stringent requirements on the steady-state and transient performance of underwater robots, which are often more difficult to meet under disturbed underwater conditions. To address these challenges, an anti-interference control technique capable of guaranteeing both steady-state and transient performance of underwater robots is needed.

[0003] Existing research methods have proposed some anti-interference control strategies, but for some underwater missions that require high accuracy and convergence speed, simply improving robustness is not enough to meet their needs. Some research methods have proposed control strategies with excellent control performance, but achieving such excellent performance often requires careful adjustment of the parameters in the control technology. In contrast, the pre-set performance control method is simpler and can guarantee the steady-state and transient performance of the controlled object.

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

[0005] To overcome the problems in the prior art, this invention proposes a flexible interference compensation control method for preset performance of underwater robots.

[0006] The technical solution of the present invention to solve the above-mentioned technical problems is as follows:

[0007] This invention provides a method for flexible disturbance compensation control of preset performance of an underwater robot, comprising the following steps:

[0008] Step 100: Based on the position information and heading angle information of the underwater robot in the geodetic coordinate system, and the velocity information in the attached coordinate system, establish a kinematic model for the underwater robot's trajectory tracking.

[0009] Step 200: Consider the time-varying environmental disturbances in the marine environment where the underwater robot is operating, and establish a dynamic model for the underwater robot's trajectory tracking;

[0010] Step 300: Design the preset performance index limits that the underwater robot trajectory tracking needs to achieve, and design a transformation function to mathematically transform the constrained closed-loop system into an unconstrained closed-loop system;

[0011] Step 400: Design an interference observer to estimate time-varying environmental interference in the underwater robot's trajectory tracking in real time;

[0012] Step 500: Design a composite anti-interference controller with preset performance based on the interference observer;

[0013] Step 600: Design a flexible interference compensation strategy to optimize the underwater robot's preset performance anti-interference controller into a preset performance flexible interference compensation controller;

[0014] Step 700: Solve for the gain matrix and the observation gain matrix of the interference observer in the preset performance flexible interference compensation controller, so as to achieve the expected value of underwater robot trajectory tracking.

[0015] Further, in step 100, based on the underwater robot's position information and heading angle information in the geodetic coordinate system, and the velocity information in the attached coordinate system, a kinematic model for the underwater robot's trajectory tracking is established, including:

[0016] Position information and heading angle information in the geodetic coordinate system for underwater robot trajectory tracking:

[0017] ;

[0018] In the above formula, This is the position vector in the geodetic reference coordinate system; This indicates the actual position coordinates of the underwater robot; Indicates the heading angle;

[0019] Velocity information of the underwater robot in the attached coordinate system:

[0020] ;

[0021] In the above formula, This represents the velocity vector in the attached reference coordinate system, including forward velocity. Horizontal drift speed Vertical velocity Bow roll rate ;

[0022] Projecting the velocity from the attached coordinate system to the geodetic coordinate system, rotation matrix for:

[0023] ;

[0024] Position vector in geodetic coordinate system The rate of change and the velocity vector in the attached coordinate system The relationship between them is:

[0025] ;

[0026] In the above formula, Represents position vector The rate of change.

[0027] Furthermore, in step 200, considering the time-varying environmental disturbances in the marine environment where the underwater robot operates, a dynamic model for the underwater robot's trajectory tracking is established, including:

[0028] ;

[0029] In the above formula, , This represents a function that integrates multiple internal dynamic factors, in which: Represents the Coriolis centripetal force matrix; Represents the damping matrix; This represents the vector representing the influence of gravity and buoyancy on the underwater robot. This represents the inertia matrix including the added mass; This represents the acceleration vector in the attached coordinate system, and the velocity vector in the attached coordinate system. The derivative with respect to time; To control the input vector; This represents the unknown time-varying environmental disturbance vector.

[0030] Furthermore, in step 300, the preset performance indicators are specifically as follows:

[0031] ;

[0032] ;

[0033] ;

[0034] In the above formula, Indicates the trajectory tracking error. Represents the desired trajectory, and , Represents trajectory tracking error No. i Actual position of components With desired location Trajectory tracking error; and For the preset performance function, Used to define trajectory tracking error The lower bound of the trajectory tracking error on the i-th component. Used to define trajectory tracking error No. i The upper bound of the trajectory tracking error on the component. To meet , , Positive design parameters This represents the parameter that determines the rate of contraction of the performance function. and These represent the boundary values ​​of the preset performance limits at the initial moment. and These represent the boundary values ​​of the preset performance limits in steady state.

[0035] Furthermore, in step 300, the designed inter-system conversion relationship is as follows:

[0036] ;

[0037] In the above formula, For the tracking error of the transformed unconstrained system, Represents the tracking error of an unconstrained system In the i The tracking error-related variables of the transformed unconstrained system at the component level, and the transformation function. Specifically:

[0038] ;

[0039] In the above formula, .

[0040] Further, in step 400, designing an interference observer to estimate time-varying environmental interference in the underwater robot's trajectory tracking in real time includes:

[0041] To obtain the dynamic model information of the underwater robot, the interference observer was designed as follows:

[0042] ;

[0043] In the above formula, Represents the vector of disturbance estimates; This represents the design parameter matrix for a positive definite interference observer. This represents the auxiliary intermediate vector generated during the design process of the above interference observer equation; This represents the derivative of the auxiliary intermediate vector generated during the design of the disturbance observer equation.

[0044] Further, in step 500, designing a pre-defined performance composite anti-interference controller based on the interference observer includes:

[0045] ;

[0046] In the above formula, Represents a positive design parameter matrix; This represents a positive design parameter matrix. Derived from the above conversion function; This represents the velocity error vector of the underwater robot, specifically... Among them, virtual vector for:

[0047] ;

[0048] In the above formula, The design parameter matrix is ​​positive; The design parameter matrix is ​​positive. From the above; This represents the transpose of the rotation matrix.

[0049] Further, in step 600, a flexible interference compensation strategy is designed to optimize the underwater robot's preset performance anti-interference controller into a preset performance flexible interference compensation controller, including:

[0050] The specific design of the flexible interference compensation strategy is as follows:

[0051] ;

[0052] ;

[0053] In the above formula, As an indicator of interference effects, This is the flexible conditional interference gain matrix; The interference effect indicator criterion is used to determine whether the controller compensates for the effect of environmental disturbances on the underwater robot based on the relationship between the interference indicator and the criterion.

[0054] The preset performance anti-interference controller for underwater robots is optimized into a preset performance flexible interference compensation controller. :

[0055] ;

[0056] In the above formula, This represents the system's control input.

[0057] Further, in step 700, the gain matrix of the preset performance flexible interference compensation controller and the observation gain matrix of the interference observer are solved to achieve the expected value for underwater robot trajectory tracking, including:

[0058] Using a linear matrix inequality algorithm, adjust the gain matrices of the disturbance observer and the fault observer. ;

[0059] Using a linear matrix inequality algorithm, the gain matrix of a preset performance flexible interference compensation controller is adjusted. , .

[0060] Compared with the prior art, the present invention has the following technical effects:

[0061] (1) The control method of the present invention is aimed at underwater robot trajectory tracking. It uses an interference observer to solve the problem of online estimation and suppression of unknown external marine environmental interferences encountered by underwater robot trajectory tracking at sea. In addition, it effectively enhances the anti-interference capability of underwater robot and improves the reliability of control of marine aerospace launch and recovery ships in order to correct the tracking feedback control error.

[0062] (2) The control method of the present invention is for 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 of the control system under the strict preset performance requirements, effectively enhancing the overall performance of the underwater robot.

[0063] (3) The method of the present invention takes into account the actual performance of the underwater robot trajectory tracking preset performance flexible interference compensation control, has low cost and is easy to implement in engineering. Attached Figure Description

[0064] To more clearly illustrate the technical solutions and advantages in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0065] Figure 1 This is a flowchart of the control method of the present invention;

[0066] Figure 2 The underwater robot trajectory tracking diagram provided in the embodiments of the present invention;

[0067] Figure 3 This is a trajectory tracking error diagram of an underwater robot provided in an embodiment of the present invention;

[0068] Figure 4 The underwater robot trajectory tracking speed diagram provided in the embodiments of the present invention;

[0069] Figure 5 The output diagram of the underwater robot trajectory tracking controller provided in the embodiment of the present invention;

[0070] Figure 6 Gain diagram of flexible interference compensation for underwater robot trajectory tracking provided in an embodiment of the present invention;

[0071] Figure 7 An anti-interference diagram for underwater robot trajectory tracking provided in an embodiment of the present invention. Detailed Implementation

[0072] To further illustrate the technical means and effects adopted by the present invention to achieve its intended purpose, the specific implementation methods, structures, features, and effects of the technical solutions proposed according to the present invention are described in detail below with reference to the accompanying drawings and preferred embodiments. Specific features, structures, or characteristics in one or more embodiments may be combined in any suitable form. Unless otherwise defined, all technical and scientific terms used in this invention have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0073] The purpose of this invention is to provide an anti-interference control method for underwater robot trajectory tracking. It optimizes the energy consumption required by the control strategy under strong constraints of preset performance through flexible anti-interference technology, forming a flexible interference compensation control method for underwater robots with preset performance. This invention primarily addresses the research on trajectory tracking control of underwater robots considering unknown external marine environmental disturbances. It incorporates motion preset performance control, interference observers, and flexible interference compensation to solve the problem of unknown external environmental interference experienced by underwater robots and meet the high demands of underwater robots in transient and steady-state performance. Under performance constraints, it utilizes flexible interference compensation technology to save 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. By applying preset performance constraints, it improves the transient and steady-state control performance of the underwater robot. The flexible interference compensation technology partially utilizes the influence of environmental interference, saving energy consumption of the control system. The proposed preset performance flexible interference compensation control method effectively improves the reliability of underwater robots, enabling trajectory tracking to achieve preset performance requirements with an optimized energy usage strategy.

[0074] Figure 1 The flowchart of the control method of the present invention is as follows: Figure 1 As shown, in one embodiment of the present invention, a method for flexible disturbance compensation control of preset performance of an underwater robot is provided, comprising the following steps:

[0075] Step 100: Based on the position information and heading angle information of the underwater robot in the geodetic coordinate system, and the velocity information in the attached coordinate system, establish a kinematic model for the underwater robot's trajectory tracking.

[0076] Step 200: Consider the time-varying environmental disturbances in the marine environment where the underwater robot is operating, and establish a dynamic model for the underwater robot's trajectory tracking;

[0077] Step 300: Design the preset performance index limits that the underwater robot trajectory tracking needs to achieve, and design a transformation function to mathematically transform the constrained closed-loop system into an unconstrained closed-loop system;

[0078] Step 400: Design an interference observer to estimate time-varying environmental interference in the underwater robot's trajectory tracking in real time;

[0079] Step 500: Design a composite anti-interference controller with preset performance based on the interference observer;

[0080] Step 600: Design a flexible interference compensation strategy to optimize the underwater robot's preset performance anti-interference controller into a preset performance flexible interference compensation controller;

[0081] Step 700: Solve for the gain matrix and the observation gain matrix of the interference observer in the preset performance flexible interference compensation controller, so as to achieve the expected value of underwater robot trajectory tracking.

[0082] The following is a detailed explanation of each of the above steps:

[0083] Step 100: Based on the position information and heading angle information of the underwater robot in the geodetic coordinate system, and the velocity information in the attached coordinate system, establish a kinematic model for the underwater robot's trajectory tracking.

[0084] Position information and heading angle information in the geodetic coordinate system for underwater robot trajectory tracking:

[0085] ;

[0086] In the above formula, This is the position vector in the geodetic reference coordinate system; This indicates the actual position coordinates of the underwater robot; This represents the heading angle, which is the angle between the longitudinal axis of the underwater robot and the north direction of the geodetic coordinate system.

[0087] Velocity information of the underwater robot in its attached coordinate system (volume coordinate system):

[0088] ;

[0089] In the above formula, This represents the velocity vector in the attached reference coordinate system, including forward velocity. Horizontal drift speed Vertical velocity Bow roll rate .

[0090] Projecting the velocity from the attached coordinate system to the geodetic coordinate system, rotation matrix for:

[0091] ;

[0092] In the formula, the bow roll angle Position vector in geodetic coordinate system The components in the vector, the position vector in the geodetic coordinate system. rate of change velocity vector in attached coordinate system The conversion relationship between them is as follows:

[0093] ;

[0094] Expanding the above relationships, we obtain the matrix form of the underwater robot trajectory tracking kinematic model:

[0095] .

[0096] Step 200: Consider the time-varying environmental disturbances in the marine environment where the underwater robot is operating, and establish a dynamic model for the underwater robot's trajectory tracking.

[0097] ;

[0098] In the above formula, , This represents a function that integrates multiple internal dynamic factors, in which: Represents the Coriolis centripetal force matrix; Represents the damping matrix; This represents the vector representing the influence of gravity and buoyancy on the underwater robot. This represents the inertia matrix including the added mass; This represents the acceleration vector in the attached coordinate system, and the velocity vector in the attached coordinate system. The derivative with respect to time; To control the input vector; This represents the unknown time-varying environmental disturbance vector.

[0099] Step 300: Design the preset performance index limits that the underwater robot trajectory tracking needs to achieve, and design a transformation function to mathematically transform the constrained closed-loop system into an unconstrained closed-loop system.

[0100] The preset performance indicators are as follows:

[0101] ;

[0102] ;

[0103] ;

[0104] In the above formula, Indicates the trajectory tracking error. Represents the desired trajectory, and , Represents trajectory tracking error No. i Actual position of components With desired location Trajectory tracking error; and For the preset performance function, Used to define trajectory tracking error No. i The lower bound of 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 meet , , Positive design parameters This represents the parameter that determines the rate of contraction of the performance function. and This represents the boundary value of the preset performance limit at the initial moment. and This represents the boundary value of the preset performance limit in steady state.

[0105] Because the preset performance indicators limit the error, the closed-loop system becomes a constrained system, which brings difficulties to the controller design and stability analysis. This is addressed by designing a transition function. This mathematically transforms a constrained closed-loop system into an unconstrained closed-loop system, thereby simplifying the control design and analysis process.

[0106] The designed system transformation relationship is as follows:

[0107] ;

[0108] In the above formula, For the tracking error of the transformed unconstrained system, Represents the tracking error of an unconstrained system In the i The tracking error-related variables of the transformed unconstrained system at the component level, and the transformation function. Specifically:

[0109] ;

[0110] In the above formula, .

[0111] Step 400: Design an interference observer to estimate time-varying environmental interference in underwater robot trajectory tracking in real time.

[0112] 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 trajectory tracking errors and even system instability. The purpose of designing a disturbance observer is to estimate these time-varying environmental disturbances in real time and accurately, so as to compensate for them in the control system, thereby improving the accuracy and robustness of trajectory tracking.

[0113] To obtain the dynamic model information of the underwater robot, the interference observer was designed as follows:

[0114] ;

[0115] In the above formula, This is a vector of disturbance estimates; Design the parameter matrix for a positive definite interference observer; It is an auxiliary intermediate vector generated by the above interference observer equation, and has no practical physical meaning; This represents the time derivative of the auxiliary intermediate vector generated by the interference observer equation.

[0116] Step 500: Design a composite anti-interference controller with preset performance based on the interference observer.

[0117] Based on the transformation function, we have the following expression:

[0118] ;

[0119] In the above formula, The variables representing the tracking error of the transformed unconstrained system The derivative reflects Rate of change over time; Indicates trajectory tracking error The derivative of the tracking error is the rate of change of the tracking error over time. , It is a positive design parameter, specifically derived from the following equation:

[0120] ;

[0121] ;

[0122] The above relates to the tracking error of the original system: The tracking error of an unconstrained system is related to: The design parameter matrix is ​​related to: , Define virtual vectors for:

[0123] ;

[0124] In the above formula, Positive design parameters affect tracking error. Take the derivative and substitute the result into the equation above. ,get:

[0125] ;

[0126] Let the velocity error vector of the underwater robot be... The derivative of the velocity error vector is:

[0127] ;

[0128] Based on the interference observer, the preset performance anti-interference controller for the underwater robot is designed as follows:

[0129] ;

[0130] in, The design parameter matrix is ​​positive.

[0131] Step 600: Design a flexible interference compensation strategy to optimize the underwater robot's preset performance anti-interference controller into a preset performance flexible interference compensation controller.

[0132] The specific design of the flexible interference compensation strategy is as follows:

[0133] ;

[0134] ;

[0135] In the above formula, As an indicator of interference effects, Criteria for the designed interference effect indicator This is the flexible condition interference gain matrix.

[0136] The aforementioned underwater robot's preset performance anti-interference controller is optimized into a preset performance flexible interference compensation controller. Specifically:

[0137] ;

[0138] Determine the Lyapunov function for:

[0139] ;

[0140] In the above formula, This represents the transpose of the interference estimation error vector.

[0141] Theoretical analysis verifies that the designed controller can guarantee global consistency and eventual boundedness of all system signals and track errors. Strictly constrained within the preset performance function.

[0142] Step 700: Using the linear matrix inequality algorithm, solve for the gain matrix and the observation gain matrix of the interference observer in the preset performance flexible interference compensation controller for underwater robot trajectory tracking, thereby achieving the expected value for underwater robot trajectory tracking.

[0143] Adjusting the gain matrix of the interference observer using a linear matrix inequality algorithm. To ensure that the real-time estimation performance and convergence speed of the interference observer meet the set requirements; adjust the gain matrix of the preset performance flexible interference compensation controller. , This is to enable the underwater robot's trajectory tracking error to achieve any desired accuracy.

[0144] To verify the performance of the designed flexible disturbance compensation controller for the underwater robot, the following parameters were used as a case study in a simulation experiment. The dynamic parameters of the research object are:

[0145] ;

[0146] ;

[0147] ;

[0148] ;

[0149] In the above formula, , , , .

[0150] Set the desired trajectory of the underwater robot as the initial state. The trajectory of the following function changes:

[0151] ;

[0152] The environmental disturbances experienced by underwater robots are:

[0153] ;

[0154] The default performance function is set as follows:

[0155] ;

[0156] ;

[0157] Set the initial state of the underwater robot , .

[0158] Take the gain parameter from the interference observer Virtual vectors in the interference observer The initial state is Gain parameters in the preset performance flexible interference compensation controller , All flexible interference compensation criteria are 0.003.

[0159] To verify the effectiveness of the method of the present invention, simulation experiments were conducted. Figures 2-7 The superior tracking capabilities of the method of this invention can be seen. Figure 2 The image shows the position tracking diagram of the underwater robot, demonstrating that the proposed control strategy can overcome environmental interference and enable the underwater robot to track the required trajectory with arbitrary precision. Figure 3 As shown in the underwater robot tracking error diagram, the tracking error is limited to the preset performance requirements. Figure 4 The image shows the speed tracking of the underwater robot, demonstrating that the robot's speed is bounded and reasonable. Figure 5 The control input diagram shows that the controller output is bounded and reasonable. Figure 6 This is a gain diagram for flexible interference compensation in an underwater robot controller. Figure 7 The graph shows the estimated values ​​of the environmental disturbance and interference observer for the underwater robot, demonstrating the effectiveness of the interference observer. As can be seen from the graph, the designed pre-set performance flexible interference compensation controller enables the underwater robot to reach and track the desired trajectory with arbitrary accuracy, and the convergence speed is within the pre-set performance constraints. Furthermore, all signals in the underwater robot trajectory tracking control system are globally consistent and ultimately have boundaries, verifying the proposed theory.

[0160] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.

Claims

1. A method for flexible disturbance compensation control of preset performance of an underwater robot, characterized in that, Includes the following steps: Step 100: Based on the position information and heading angle information of the underwater robot in the geodetic coordinate system, and the velocity information in the attached coordinate system, establish a kinematic model for the underwater robot's trajectory tracking. Step 200: Consider the time-varying environmental disturbances in the marine environment where the underwater robot is operating, and establish a dynamic model for the underwater robot's trajectory tracking; Step 300: Design the preset performance index limits that the underwater robot trajectory tracking needs to achieve, and design a transformation function to mathematically transform the constrained closed-loop system into an unconstrained closed-loop system; Step 400: Design an interference observer to estimate time-varying environmental interference in the underwater robot's trajectory tracking in real time; Step 500: Design a composite anti-interference controller with preset performance based on the interference observer; Step 600: Design a flexible interference compensation strategy to optimize the underwater robot's preset performance anti-interference controller into a preset performance flexible interference compensation controller; In step 600, a flexible interference compensation strategy is designed to optimize the underwater robot's preset performance anti-interference controller into a preset performance flexible interference compensation controller, including: The specific design of the flexible interference compensation strategy is as follows: ； ； In the above formula, As an indicator of interference effects, This is the flexible conditional interference gain matrix; Represents trajectory tracking error No. i Actual position of components With desired location Trajectory tracking error; The interference effect indicator criterion is used to determine whether the controller compensates for the effect of environmental disturbances on the underwater robot based on the relationship between the interference indicator and the criterion. The preset performance anti-interference controller for underwater robots is optimized into a preset performance flexible interference compensation controller. : ； In the above formula, Indicates the system's control input; Represents a positive design parameter matrix; Represents the rotation matrix; This represents the tracking error of an unconstrained system; The gain matrix represents the preset performance flexible interference compensation controller; This represents the velocity error vector of the underwater robot. It represents a function that integrates multiple internal dynamic factors; This represents the inertia matrix including the added mass; Representing virtual vectors The rate of change; Represents the vector of disturbance estimates; Step 700: Solve for the gain matrix and the observation gain matrix of the interference observer in the preset performance flexible interference compensation controller, so as to achieve the expected value of underwater robot trajectory tracking.

2. The underwater robot preset performance flexible interference compensation control method according to claim 1, characterized in that, In step 100, based on the underwater robot's position information and heading angle information in the geodetic coordinate system, and the velocity information in the attached coordinate system, a kinematic model for the underwater robot's trajectory tracking is established, including: Position information and heading angle information in the geodetic coordinate system for underwater robot trajectory tracking: ； In the above formula, This is the position vector in the geodetic reference coordinate system; This indicates the actual position coordinates of the underwater robot; Indicates the heading angle; Velocity information of the underwater robot in the attached coordinate system: ； In the above formula, This represents the velocity vector in the attached reference coordinate system, including forward velocity. Horizontal drift speed Vertical velocity Bow roll rate ; Projecting the velocity from the attached coordinate system to the geodetic coordinate system, rotation matrix for: ； Position vector in geodetic coordinate system The rate of change and the velocity vector in the attached coordinate system The relationship between them is: ； In the above formula, Represents position vector The rate of change of the position vector The derivative with respect to time.

3. The underwater robot preset performance flexible interference compensation control method according to claim 2, characterized in that, In step 200, considering the time-varying environmental disturbances in the marine environment where the underwater robot operates, a dynamic model for the underwater robot's trajectory tracking is established, including: ； In the above formula, , This represents a function that integrates multiple internal dynamic factors, in which: Represents the Coriolis centripetal force matrix; Represents the damping matrix; This represents the vector representing the influence of gravity and buoyancy on the underwater robot. This represents the inertia matrix including the added mass; This represents the acceleration vector in the attached coordinate system, and the velocity vector in the attached coordinate system. The derivative with respect to time; To control the input vector; This represents the unknown time-varying environmental disturbance vector.

4. The underwater robot preset performance flexible interference compensation control method according to claim 3, characterized in that, In step 300, the preset performance indicators are specifically as follows: ； ； ； In the above formula, Indicates the trajectory tracking error. Represents the desired trajectory, and , Represents trajectory tracking error No. i Actual position of components With desired location Trajectory tracking error; and For the preset performance function, Used to define trajectory tracking error The lower bound of the trajectory tracking error on the i-th component. Used to define trajectory tracking error No. i The upper bound of the trajectory tracking error on the component. To meet , , Positive design parameters This represents the parameter that determines the rate of contraction of the performance function. and These represent the boundary values ​​of the preset performance limits at the initial moment. and These represent the boundary values ​​of the preset performance limits in steady state.

5. The underwater robot preset performance flexible interference compensation control method according to claim 4, characterized in that, In step 300, the designed inter-system conversion relationship is as follows: ； In the above formula, For the tracking error of the transformed unconstrained system, Represents the tracking error of an unconstrained system In the i The tracking error-related variables of the transformed unconstrained system at the component level, and the transformation function. Specifically: ； In the above formula, .

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

7. The underwater robot preset performance flexible interference compensation control method according to claim 6, characterized in that, In step 500, the design of a pre-defined performance composite anti-interference controller based on the interference observer includes: ； In the above formula, Represents a positive design parameter matrix; Represents a positive design parameter matrix; This represents the velocity error vector of the underwater robot. Among them, virtual vector for: ； In the above formula, The design parameter matrix is ​​positive; The design parameter matrix is ​​positive. This is derived from the conversion function described above; This represents the transpose of the rotation matrix.

8. The underwater robot preset performance flexible interference compensation control method according to claim 1, characterized in that, In step 700, the gain matrix of the preset performance flexible interference compensation controller and the observation gain matrix of the interference observer are solved to achieve the expected value for underwater robot trajectory tracking, including: Using a linear matrix inequality algorithm, adjust the gain matrices of the disturbance observer and the fault observer. ; Using a linear matrix inequality algorithm, the gain matrix of a preset performance flexible interference compensation controller is adjusted. , .

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