针对欠驱动自主水下航行器（Autonomous Underwater Vehicle，AUV）在时变洋流扰动下的轨迹跟踪控制问题，设计一种基于预设时间扰动观测器（Predefined-time Disturbance Observer，PTDO）的实际预设时间控制框架。首先，为消除时变洋流扰动的影响，基于预设时间理论构建了PTDO进行扰动补偿，相较于固定时间观测器，收敛时间独立作为观测器参数，灵活可调。其次，通过引入预设时间非线性滤波器，有效规避了现有反步控制框架下的“微分爆炸”问题，设计了实际预设时间轨迹跟踪控制器，并根据李雅普诺夫稳定性理论严格证明了轨迹跟踪误差可在与初始状态无关的预设时间内收敛至残差集。最后，基于Matlab/Simulink平台进行对比仿真，验证了所提控制策略的有效性和便捷性。
A practical predefined-time control framework based on a Predefined-Time Disturbance Observer (PTDO) is designed for the trajectory tracking control problem of an underactuated Autonomous Underwater Vehicle (AUV) under time-varying ocean current disturbances. Firstly, to eliminate the influence of time-varying ocean current disturbances, a PTDO is constructed based on the predefined-time theory for disturbance compensation. Compared with the fixed-time observer, the convergence time serves as an independent parameter of the observer, which is flexibly adjustable. Secondly, by introducing a predefined-time nonlinear filter, the problem of "differential explosion" within the existing backstepping control framework is effectively avoided. Subsequently, a practical predefined-time trajectory tracking controller is designed. According to the Lyapunov stability theory, it is rigorously proven that the trajectory tracking error can converge to a residual set within a predefined time that is independent of the initial state. Finally, comparative simulations are carried out on the Matlab/Simulink platform, which verifies the effectiveness and convenience of the proposed control strategy.
2026,48(6): 132-140 收稿日期：2025-4-28
DOI：10.3404/j.issn.1672-7649.2026.06.018
分类号：U675.91；TP242
基金项目：国家自然科学基金资助项目（62303158）；江苏省研究生科研创新计划项目（SJCX24_0187）
作者简介：季茂沁(1999-),男,硕士研究生,研究方向为无人系统及非渐近收敛
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