水下机器人流体结构件三维控制面临外部扰动影响，运动位置和姿态角的控制误差较高，影响水下机器人的正常运行。为此设计一种融合精确水动力建模与智能鲁棒控制的三维控制模型。结合反馈线性化、模糊自适应PD控制器与扩张状态观测器（Extended State Observer，ESO）设计三维控制模型，处理该动力学模型的非线性、耦合性及外部扰动，实现机器人流体结构件的三维控制。实验结果表明，该模型对流体结构件进行控制后，在定点悬停任务中，机器人位置误差控制在0.065 m以内，姿态角误差低于0.75°；在轨迹跟踪任务中，响应迅速、轨迹平滑无超调，展现出优异的动态适应性与抗干扰能力。
The three-dimensional control of fluid structural components of underwater robots is affected by external disturbances, resulting in high control errors in motion position and attitude angle, which affects the normal operation of underwater robots. Design a three-dimensional control model that integrates precise hydrodynamic modeling and intelligent robust control for this purpose. Design a three-dimensional control model by combining feedback linearization, fuzzy adaptive PD controller, and ESO to handle the nonlinearity, coupling, and external disturbances of the dynamic model, and achieve three-dimensional control of robot fluid structural components. The experimental results show that after controlling the fluid structural components, the model can control the robot position error within 0.065m and the attitude angle error below 0.75 ° in the fixed-point hovering task; In trajectory tracking tasks, the response is fast and the trajectory is smooth without overshoot. Exhibiting excellent dynamic adaptability and anti-interference ability.
2026,48(6): 54-58 收稿日期：2025-10-29
DOI：10.3404/j.issn.1672-7649.2026.06.008
分类号：U664.82；TP24
作者简介：胡滢婧(1993-),女,硕士,讲师,研究方向为结构三维化、数字媒体技术
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