针对遥控水下机器人（ROV）在复杂海洋环境中面临的模型不确定性、强耦合特性及外界干扰问题，本研究提出一种基于固定时间扩张状态观测器（FESO）与二阶固定时间自适应多变量超螺旋滑模控制（SFAMSTSMC）的轨迹跟踪控制方法。通过设计FESO对系统集总扰动进行精确估计并实现前馈补偿，结合改进的自适应多变量超螺旋算法动态调整控制增益，在保证系统固定时间收敛性能的同时有效抑制控制抖振。基于Lyapunov稳定性理论，严格证明了闭环系统所有信号在固定时间内有界且轨迹跟踪误差能够收敛至零。仿真实验结果表眀，与传统PID控制和现有二阶滑模控制方法相比，所提出的FESO-SFAMSTSMC控制策略在控制精度、收敛速度和鲁棒性方面均表现出显著优势，同时有效避免了控制输入的抖振现象，为ROV在复杂海洋环境中的高精度轨迹跟踪控制提供了有效的解决方案，具有良好的工程应用价值。
Aiming at the problems of model uncertainties, strong coupling characteristics, and external disturbances faced by remotely operated vehicles (ROVs) in complex marine environments, this study proposes a trajectory tracking control method based on a fixed-time extended state observer (FESO) and a second-order fixed-time adaptive multivariable super-twisting sliding mode control (SFAMSTSMC). The designed FESO accurately estimates the system's lumped disturbances and achieves feedforward compensation. Combined with an improved adaptive multivariable super-twisting algorithm to dynamically adjust the control gains, the method ensures fixed-time convergence performance while effectively suppressing control chattering. Based on Lyapunov stability theory, it is rigorously proven that all signals of the closed-loop system are bounded within a fixed time and the trajectory tracking error converges to zero. Simulation results demonstrate that, compared with traditional PID control and existing second-order sliding mode control methods, the proposed FESO-SFAMSTSMC strategy shows significant advantages in terms of control accuracy, convergence speed, and robustness, while effectively avoiding chattering in the control input. This provides an effective solution for high-precision trajectory tracking control of ROVs in complex marine environments, indicating good potential for engineering applications.
2026,48(6): 90-99 收稿日期：2025-10-18
DOI：10.3404/j.issn.1672-7649.2026.06.013
分类号：U664.82；TP273
基金项目：国家重点研发计划资助项目（2020YFC1521704）
作者简介：董煜(2001-),男,硕士研究生,研究方向为缆控水下机器人
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