一种具有预设性能的USR固定时间路径跟踪控制方法
By designing a fixed-time path tracking control method for USR, and combining a variable exponential term and an extended state observer, the problems of external disturbances, model uncertainty, and actuator saturation in the path following control of USR in complex aquatic environments are solved, achieving fast, stable path tracking and high-precision control.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- 烟台哈尔滨工程大学研究院
- Filing Date
- 2026-04-21
- Publication Date
- 2026-07-17
AI Technical Summary
Existing USR underwater snake robots face problems in path following control, such as coupling of external environmental disturbances and internal model uncertainties, actuator saturation, slow convergence speed, low steady-state accuracy, and insufficient robustness. They are particularly difficult to achieve efficient and stable path following in complex aquatic environments.
A USR fixed-time path tracking control method is designed. By constructing a fixed-time convergent system containing a variable exponential term, and combining an integral sliding mode term and an extended state observer with adaptive gain adjustment, a composite controller is constructed to realize preset performance constraints and actuator saturation compensation, ensuring that the system converges within a fixed time.
It achieves fast and accurate path tracking in complex underwater environments, improves the robustness and stability of the system, ensures stability and preset performance under actuator saturation conditions, shortens convergence time, and improves tracking accuracy.
Smart Images
Figure CN122195038B_ABST